US 12,442,649 B2
Method for generating a reference trajectory within a lane, method for operating a vehicle, data processing apparatus, vehicle, and computer-readable medium
Derong Yang, Gothenburg (SE); and Mats Jonasson, Gothenburg (SE)
Assigned to Volvo Car Corporation, Gothenburg (SE)
Filed by Volvo Car Corporation, Gothenburg (SE)
Filed on Jan. 24, 2023, as Appl. No. 18/158,524.
Claims priority of application No. 22153686 (EP), filed on Jan. 27, 2022.
Prior Publication US 2023/0236028 A1, Jul. 27, 2023
Int. Cl. G01C 21/34 (2006.01); B60W 10/20 (2006.01); B60W 30/18 (2012.01); B60W 40/103 (2012.01); B60W 40/105 (2012.01); B60W 40/114 (2012.01); G01C 21/36 (2006.01)
CPC G01C 21/3469 (2013.01) [B60W 10/20 (2013.01); B60W 30/18145 (2013.01); B60W 40/103 (2013.01); B60W 40/105 (2013.01); B60W 40/114 (2013.01); G01C 21/3658 (2013.01); B60W 2520/10 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2710/207 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
determining, by a system of a vehicle comprising a processor, using at least one sensor of the vehicle, at least one vehicle current state parameter associated with a current state of the vehicle while driving, wherein the at least one vehicle current state parameter comprises a current position of the vehicle and a current side-slip angle of the vehicle;
receiving, by the system, a destination parameter describing a destination to be reached by the vehicle;
receiving, by the system, at least one route parameter describing a route starting at the current position of the vehicle and ending at the destination;
determining, by the system, a reference trajectory within one or more lanes along the route that minimizes an estimated power loss of the vehicle when traveling from the current position to the destination based on at least one vehicle estimated state parameter associated with estimated states of the vehicle along the route, the destination parameter and a traveling time, wherein the at least one vehicle estimated state parameter comprises at least one estimated side-slip angle of the vehicle; and
controlling, by the system, the driving of the vehicle along the reference trajectory.