METHOD AND SYSTEM FOR PLANNING A PATH FOR A LAND VEHICLE FOR OBSTACLE AVOIDANCE WITH FAST REACTION, PARTICULARLY IN AN AUTONOMOUS DRIVE SCENARIO

摘要

A method is described for the generation of a trajectory for the avoidance of a detected obstacle for a land vehicle driving along a planned path, particularly in a scenario of assisted or autonomous driving, wherein the avoidance trajectory includes at least one curvature with respect to a current reference direction of the vehicle, characterized in that the curvature has an amplitude that evolves over time with a sinusoidal pattern or with a composite pattern including sinusoidal and constant value sections, the sinusoidal pattern having a frequency lower than a predetermined maximum admissible frequency, lower than the maximum bandwidth of a control system of the dynamics of the vehicle arranged for the tracking of the avoidance trajectory by means of driving actuator means of the vehicle comprising at least one steering system.