US 11,913,794 B2
Determining a vehicle trajectory utilizing boundary cost functions
Fabian Moik, Stuttgart (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Sep. 30, 2020, as Appl. No. 17/038,433.
Claims priority of application No. 102019216378.5 (DE), filed on Oct. 24, 2019.
Prior Publication US 2021/0123755 A1, Apr. 29, 2021
Int. Cl. G01C 21/34 (2006.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 10/20 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 50/14 (2020.01); B60W 30/14 (2006.01)
CPC G01C 21/3453 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/143 (2013.01); B60W 50/14 (2013.01); B60W 60/0013 (2020.02); B60W 60/0015 (2020.02); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A computer-implemented method for calculating a trajectory of a mobile platform, comprising:
calculating the trajectory by solving an optimization problem, a total cost function of the optimization problem depending on a first boundary cost function, the first boundary cost function being a function of a position of the mobile platform which has a continuous and non-constant portion; and
furnishing, based on the calculated trajectory, a control signal for applying control to a steering system of the mobile platform, and/or a control signal for applying control to a propulsion system of the mobile platform, and/or a control signal for applying control to a braking system, and/or a warning signal for warning an occupant of the mobile platform.