US 12,358,502 B2
Method for trajectory planning of an assistance system
Radoy Stanchev, Darmstadt (DE); and Fabian Becker, Frankfurt (DE)
Assigned to Continental Autonomous Mobility Germany GmbH, Ingolstadt (DE)
Appl. No. 17/310,580
Filed by Conti Temic microelectronic GmbH, Nuremberg (DE); and Continental Automotive GmbH, Munich (DE)
PCT Filed Jan. 16, 2020, PCT No. PCT/DE2020/200005
§ 371(c)(1), (2) Date Aug. 12, 2021,
PCT Pub. No. WO2020/164670, PCT Pub. Date Aug. 20, 2020.
Claims priority of application No. 10 2019 201 800.9 (DE), filed on Feb. 12, 2019.
Prior Publication US 2022/0176958 A1, Jun. 9, 2022
Int. Cl. B60W 30/14 (2006.01); B60W 30/16 (2020.01)
CPC B60W 30/143 (2013.01) [B60W 30/16 (2013.01); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2720/103 (2013.01); B60W 2720/106 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for trajectory planning of an assistance system for longitudinal and/or transverse control of a vehicle, comprising:
determining a trajectory having a total duration which can be set; and
dividing the trajectory into segments, wherein each segment has a variable segment duration and a total of the segment durations corresponds to the total duration of the trajectory,
wherein dividing the trajectory into segments comprises dividing the trajectory into a first segment, followed by a second segment, followed by a third segment, and wherein a duration of the first segment is determined using a quadratic equation as a function of a duration of the third segment or vice versa.