Patent Document ID: 20080255728
Application ID: 12096329
Patent Status: 0

Claim One:
1. 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, wherein the path connects an initial state with a terminal state and 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, and with the path being assembled 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, characterized in that the path is assigned 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, and where point P5 which is located opposite the base of the planar triangle P 0 P 3 is determined by the intersection of the two legs P 0 P 5 and P 5 P 3 of the planar triangle such that the two legs P 0 P 5 , P 5 P 3 are of the same length and, together with side P 0 P 3 of the planar triangle, form the same vertical angle ψi, with angle ψi at vertex P0 of the planar triangle being determined by the angle formed by the tangent of the path and side P 0 P 3 of the triangle, and such that the parameters of the elementary paths are determined by the parameters of the planar triangle.