METHOD FOR ADJUSTING THE TRAJECTORY, METHOD FOR MOTION CONTROL AND APPARATUS FOR ADJUSTING THE TRAJECTORY Russian patent published in 2022 - IPC B60W30/10 B60W30/18 B60W60/00 

FIELD: controlling.

SUBSTANCE: method for adjusting the trajectory of a vehicle includes: forming the route of the vehicle in question, along which the vehicle in question moves, based on the information from the map stored in a database; calculating the trajectory of the vehicle in question, wherein said trajectory should be the target trajectory when the vehicle in question moves along the route of the vehicle in question; detecting the position of another vehicle moving in the lane in the direction of width of the vehicle in question, by means of the sensor provided for the vehicle in question; calculating the offset in the position of the other vehicle in the lane of movement of the other vehicle wherein the other vehicle moves, based on the position of the other vehicle; and adjusting the trajectory of the vehicle in question according to said offset.

EFFECT: proposed method allows the trajectory of the vehicle in question to be adjusted in conditions where a segment line is not provided on the road or when the segment line cannot be detected by proper means.

18 cl, 7 dwg