Method and apparatus for coordinating coordination of future operation of vehicle and fellow operation of at least one companion vehicle

摘要

The present invention relates toThe method of coordinating the future driving operation of the vehicle (100) and the companion operation of at least one companion vehicle (104), andThe companion data packet (202) isReceived from fellow vehicles (104) andCompanion track set (206) companion track setThe trajectory (108) from the trajectory set (106) for the vehicle (100) isUsing the companion reference orbit (206)Selected as reference track (110) for vehicle (100);A collision free orbit (108) is selected for the companion reference orbitThe orbit (108) of the trajectory setLimit orbit113)At least one coordinated trajectoryWith reference effort valueSelected from the orbit (108) of the trajectory setA data packet (120) including a reference trajectory (110) and a cooperative orbit (300) isSent to fellow vehicles (104).Diagram