Patent ID: 9489847
Filing Date: 2016-11-08
CPC Classification: B60W,B62D,G01S,G05D,G08G

Claim Text:
1. A method for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision in a road environment including the host vehicle H and one or more external objects, the method comprising: identifying a position or positions of one or more external objects in relation to the host vehicle H within a predefined distance using at least one of a sensor system or a communication system; generating a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of the one or more external objects using a processing means; removing any trajectories intersecting with any one of the one or more external objects using the processing means; estimating lateral position, lateral velocity, lateral acceleration and lateral jerk that will act on the host vehicle H driving along any one of the trajectories, using the processing means; and selecting the trajectory for which the lateral jerk acting on the host vehicle H is minimized, using the processing means; wherein the trajectory comprises n spline segments of degree d, and the n spline segment are divided by spline breakpoints, the spline breakpoints selected independently from the position of the external objects by the processing means such that an estimated total amount of lateral jerk that would act on the host vehicle H is minimized.