Method and device for establishing a trajectory for a vehicle

US9248835B2 · kind B2 · utility

Assignee

• Bayerische Motoren Werke Aktiengesellschaft · DE

Inventor

• Georg TANZMEISTER · Munich, DE

Key dates

• Filing date: Mar 19, 2015
• Grant date: Feb 2, 2016
• Expiry date: Mar 19, 2035

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D2109/10
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method and a device for establishing a trajectory for a vehicle is provided. The method includes the following steps: registering coordinates of objects using a sensor; calculating a cost map on the basis of the registered coordinates, wherein the cost map is subdivided into cells and a cost value is assigned to each cell, which cost value describes the presence and/or the vicinity of an object, calculating a cost space, which has a plurality of layers, wherein each layer is subdivided into cells and a cost value is assigned to each cell, wherein the cost values in the respective layers are calculated in each case for a specific orientation of the vehicle, and determining a trajectory that is as cost-effective as possible.