Patent ID: 8428820
Filing Date: 2013-04-23
Classification: B60W,B62D

Abstract:
1. A method of computing the path of a motor vehicle along a two-dimensional plane required to control the motion of the motor vehicle by means of a driver-assisting system, comprising: providing a path connecting an initial state with a terminal state wherein each of states Zi=[xi, yi, ψi, ci] along the path is characterized by four state coordinates with xi and yi being the Cartesian coordinates of a point Pi, ψi being the direction angle of the tangent, and ci being the curvature of the path at point Pi; assembling the path from a number of elementary paths joining at junction points JPi such that the four state coordinates of state Zi have a continuous transition in the junction points JPi; assigning the path at least one isosceles planar triangle with vertices Δ(P0, P3, P5), where P0 is the starting position and P3 is terminal position of at least a section of the path; determining where point P5 is located opposite the base of the planar triangle determining the parameters of the elementary paths by the parameters of the planar triangle; and signaling a control setting of a vehicle steering mechanism according to said determinations.