FIELD: transport.
SUBSTANCE: invention relates to self-driving cars. A computer-implemented method for modifying a reference path associated with a vehicle includes the steps of acquiring road segment data and reference path data via an electronic device. Moreover, the road segment data indicate the road segment constraints, the reference path data have a set of anchor points and use the road segment data and the reference path data to determine a safe deviation interval for each anchor point of the set of anchor points. A given safe deviation interval for a given anchor point indicates the acceptable deviation of the vehicle from the reference path so that if the vehicle is within this safe deviation interval, the vehicle falls within the limits of the road segment. The safe deviation intervals are used to determine the altered path for the vehicle instead of the reference path so that the vehicle falls within the limits of the road segment when following the altered path.
EFFECT: achieved SDC operation planning when approaching a turn.
38 cl, 9 dwg
