{
  "$type": "site.standard.document",
  "description": "A trajectory planning method for lane changing of a vehicle includes steps of: calculating a current position of a reference point of the vehicle on a preliminary lane change trajectory that is received from an LCA system of the vehicle at a current time point; based on kinematics data received…",
  "path": "/patents/1294292",
  "publishedAt": "2021-07-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18163",
    "Automotive Research & Testing Center"
  ],
  "textContent": "A trajectory planning method for lane changing of a vehicle includes steps of: calculating a current position of a reference point of the vehicle on a preliminary lane change trajectory that is received from an LCA system of the vehicle at a current time point; based on kinematics data received from an IMU of the vehicle, calculating longitudinal and lateral displacements of the reference point moving during a unit of time from the current time point to a next time point, and a yaw angle of the vehicle at the next time point; and obtaining a calibrated lane change trajectory based on the preliminary lane change trajectory, the current position, the longitudinal and lateral displacements, and the yaw angle.",
  "title": "TRAJECTORY PLANNING METHOD FOR LANE CHANGING, AND DRIVER ASSISTANCE SYSTEM FOR IMPLEMENTING THE SAME"
}