{
  "$type": "site.standard.document",
  "description": "A method of determining whether a planned trajectory of a first vehicle over a road along which the first vehicle and a second vehicle are travelling, is invalid, comprising: obtaining (S41) the planned trajectory, comprising a first state of the first vehicle for each of a plurality of time…",
  "path": "/patents/1407971",
  "publishedAt": "2024-07-31T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/0953",
    "APTIV TECHNOLOGIES AG [CH]"
  ],
  "textContent": "A method of determining whether a planned trajectory of a first vehicle over a road along which the first vehicle and a second vehicle are travelling, is invalid, comprising: obtaining (S41) the planned trajectory, comprising a first state of the first vehicle for each of a plurality of time instants; obtaining (S42) a second state of the second vehicle for each time instant; determining (S43), for each time instant, a respective lateral range extending from the second vehicle; and determining (S44) that the planned trajectory is invalid where, for the first and second states at one or more of the time instants: the first vehicle is within the lateral range and within a lane boundary region of the road; and a direction of a lateral velocity of the first vehicle is towards the second vehicle and a lateral acceleration of the first vehicle away from the second vehicle is smaller than a predetermined threshold.",
  "title": "TRAJECTORY VALIDATION FOR AUTONOMOUS DRIVING"
}