公开(公告)号：US20080255728A1

公开(公告)日：2008-10-16

申请号：US12096329

申请日：2006-12-07

申请人： Thomas Ottenhues ,  Norbert Hover ,  Peter Magyar ,  Wassmuth Joachim ,  Heinig Sven

发明人： Thomas Ottenhues ,  Norbert Hover ,  Peter Magyar ,  Wassmuth Joachim ,  Heinig Sven

IPC分类号： B60W30/06 ,  B62D6/00

CPC分类号： B62D15/0285 ,  B60W50/14 ,  B60W2050/0019

摘要： The present invention relates to a method of determining the path of a vehicle along a two-dimensional plane intended to control the movement of the vehicle by means of a driver-assisting system, where the path interconnects an initial state and a terminal state and each of the 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 line, and ci being the curvature of the path at point Pi, and where the path is made up of a number of elementary paths meeting at junction points JPi such that the four state coordinates of state Zi are characterized by a continuous transition at the junction points JPi.

摘要翻译： 本发明涉及一种确定车辆沿着二维平面的路径的方法，该方法旨在通过驾驶员辅助系统来控制车辆的运动，其中路径将起始状态和终端状态互相连接 沿着路径的状态Zi = [xi，yi，psii，ci]的特征在于四个状态坐标，xi和yi是点Pi的笛卡尔坐标，psii是切线的方向角，ci是 点Pi处的路径的曲率，并且其中路径由在连接点JPi处会合的多个基本路径组成，使得状态Zi的四个状态坐标的特征在于在连接点JPi处的连续转变。