Patent ID: 11932284
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A trajectory setting method that sets a trajectory of a host vehicle for traveling, the trajectory setting method using a processor, comprising:
recognizing obstacles around the host vehicle;
generating a first path of the host vehicle by assuming all of the obstacles to be stationary obstacles;
detecting a moving obstacle from among the obstacles;
generating a second path of the host vehicle when the moving obstacle is assumed to move independently;
generating a third path of the host vehicle when the moving obstacle is assumed to move while interacting with at least one of the other obstacles or the host vehicle; and
setting the trajectory of the host vehicle for traveling from the first path, the second path and the third path based on an evaluation of the second path and the third path.