US 12,304,476 B2
Systems and methods for deweighting veering margins based on crossing time
Alice Kassar, Detroit, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Sep. 2, 2022, as Appl. No. 17/929,331.
Prior Publication US 2024/0075923 A1, Mar. 7, 2024
Int. Cl. B60W 30/095 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 60/0027 (2020.02); B60W 2520/10 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/801 (2020.02); B60W 2754/20 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for operating a vehicle, comprising:
obtaining, by a computing device, a vehicle trajectory for the vehicle and a possible object trajectory for a moving object;
analyzing, by the computing device, the vehicle trajectory and the possible object trajectory to identify a time interval in which a footprint of the vehicle overlaps laterally with a footprint of the moving object, wherein the footprint of the vehicle does not overlap with the footprint of the moving object longitudinally during the time interval;
generating, by the computing device, a mover raw margin in the time interval by shifting the footprint of the vehicle laterally until contact is made with the footprint of the object;
obtaining, by the computing device, a crossing time associated with each point of a plurality of points in the mover raw margin;
generating, by the computing device, a mover strong boundary by laterally shifting at least one point of the mover raw margin in the direction towards the vehicle when the crossing time associated with said at least one point is equal to or less than a threshold time;
generating a lateral vehicle trajectory for the vehicle to follow based on at least the mover strong boundary; and
controlling the vehicle to follow the lateral vehicle trajectory.