US 12,391,242 B2
Method and apparatus for determining travel path bound, vehicle, storage medium, and terminal
Si Liu, Suzhou (CN); Xu Ran, Suzhou (CN); Bin Wang, Suzhou (CN); and Rui Wang, Suzhou (CN)
Assigned to Momenta (Suzhou) Technology Co., Ltd., Suzhou (CN)
Filed by Momenta (Suzhou) Technology Co., Ltd., Suzhou (CN)
Filed on Sep. 7, 2023, as Appl. No. 18/243,306.
Application 18/243,306 is a continuation of application No. PCT/CN2022/104434, filed on Jul. 7, 2022.
Claims priority of application No. 202210760229.X (CN), filed on Jun. 30, 2022.
Prior Publication US 2024/0001913 A1, Jan. 4, 2024
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 60/001 (2020.02); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method of determining a travel path bound, comprising:
under a first coordinate system, according to contour point positions respectively corresponding to a vehicle and an obstacle in a path trajectory, determining a collision-anticipated overlap corner position;
based on a trajectory normal of the vehicle and the overlap corner position, determining a contour corner overlap line and a decision corner reference line, wherein the decision corner reference line is parallel to the trajectory normal, and the contour corner overlap line is covered, in an overlap way, on a collision-anticipated contour edge of the vehicle or the obstacle;
if a first intersection position between the contour corner overlap line and the decision corner reference line is not located on the contour edge, based on the overlap corner position, the decision corner reference line and contour corner positions on the contour corner overlap line, determining a collision-avoiding distance of the vehicle;
under a second coordinate system, based on the collision-avoiding distance, generating a path bound for a path planning decision.