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.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
TW	Intelligence and safety	獲證	US11,130493B2	2021/09/28~2040/06/04
US	Intelligence and safety	獲證	US11,130493B2	2021/09/28~2040/06/04