METHOD TO DETERMINE AN EVASION TRAJECTORY FOR A VEHICLE
A method for finding an evasive trajectory for avoiding an obstacle for a vehicle on a roadway. A component of a candidate trajectory parallel to the roadway is determined by selecting weighting coefficients of a first weighted sum of orthogonal functions of time. A component of the candidate trajectory orthogonal to the roadway is determined by selecting weighting coefficients of a second weighted sum of the orthogonal functions. An optimization parameter for the candidate trajectory is calculated. At least one coefficient of at least one of the sums is modified and the procedure is repeated when the optimization parameter does not reach a termination criterion.