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公开(公告)号：US11377118B2
公开(公告)日：2022-07-05
申请号：US17046024
申请日：2019-04-18
发明人： Hendrik Fuchs , Florian Wildschütte , Thomas Michalke , Ignacio Llatser Marti , Maxim Dolgov , Sebastian Strunck , Jonas Schönichen , Thomas Grotendorst
摘要： The present invention relates to a method of cooperatively coordinating future driving maneuvers of a vehicle with fellow maneuvers of at least one fellow vehicle, wherein a fellow data packet is received from the fellow vehicle, in which a fellow trajectory set of a fellow reference trajectory is contained, a trajectory from a trajectory set for the vehicle is selected as a reference trajectory for the vehicle using the fellow reference trajectory, wherein a trajectory which is collision-free towards the fellow reference trajectory is selected, the trajectories of the trajectory set are rated using limit trajectories, and at least one cooperation trajectory is selected from the trajectories of the trajectory set using the reference effort value, wherein a data packet containing the reference trajectory and the cooperation trajectory is transmitted to the fellow vehicle.
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公开(公告)号：US11535247B2
公开(公告)日：2022-12-27
申请号：US17046776
申请日：2019-04-18
发明人： Hendrik Fuchs , Florian Wildschütte , Thomas Michalke , Ignacio Llatser Marti , Maxim Dolgov , Sebastian Strunck , Jonas Schönichen , Thomas Grotendorst
IPC分类号： B60W30/09 , H04W4/46 , B60W30/00 , G06K9/62 , B60W30/095
摘要： The present invention relates to a method of cooperatively coordinating future driving maneuvers of a vehicle with fellow maneuvers of at least one fellow vehicle, wherein trajectories for the vehicle are rated with an effort value each, trajectories and fellow trajectories of the fellow vehicle are combined into tuples, the trajectory and the associated effort value of a collision-free tuple are selected as reference trajectory and reference effort value, trajectories with a lower effort value than the reference effort value are classified as demand trajectories, trajectories with higher effort value than the reference effort value are classified as alternative trajectories, and a data packet having a trajectory set consisting of the reference trajectory and the associated reference effort value as well as at least one trajectory from a group comprising the demand trajectories and the alternative trajectories as well as the respective effort values is transmitted to the fellow vehicle.
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