A method for planning a moving trajectory for a self-driving vehicle on a road includes: generating a plurality of target planned trajectory sets based on information of the self-driving vehicle; calculating a plurality of projected moving ranges and a plurality of projected moving speeds of a obstacle based on information of the obstacle, the projected moving ranges corresponding respectively with a plurality of time points in a driving duration, the projected moving speeds corresponding respectively with the time points; and selecting one of the target planned trajectory sets as an optimal planned trajectory set based on the target planned trajectory sets, the projected moving ranges and the projected moving speeds for the obstacle.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
US	Intelligence and safety	獲證	US11,104336B2	2021/08/31~2039/02/25
TW	Intelligence and safety	獲證	US11,104336B2	2021/08/31~2039/02/25