The invention discloses path planning in an automated driving environment. The invention relates to a path planning method and system for a vehicle. The method includes acquiring a risk map of the surroundings of the vehicle. The risk map is formed based on an actuation capability of the vehicle and a location of a free space region in the ambient environment, the actuation capability including an uncertainty estimate of the actuation capability, and the location of the free space region including an uncertainty estimate of an estimated location of the free space region. Further, the risk map includes risk parameters included in each of a plurality of segments in the surroundings of the vehicle. The method further includes obtaining at least one candidate path of the vehicle, determining a total risk value for each candidate path based on risk parameters of a set of zone segments intersecting the at least one path, selecting a candidate path of the at least one candidate path that meets a risk value criterion, and generating, at an output, a first signal representing the selected candidate path.

    公开了自动驾驶环境中的路径规划。本发明涉及一种用于车辆的路径规划方法和系统。方法包括获取车辆的周围环境的风险地图。风险地图基于车辆的致动能力和周围环境中的自由空间区域的位置形成,致动能力包括对致动能力的不确定性估计,并且自由空间区域的位置包括对自由空间区域的估计位置的不确定性估计。此外,风险地图包括包含在车辆的周围环境中的多个区域段中的每一个中的风险参数。方法进一步包括获取车辆的至少一条候选路径,基于与至少一条路径相交的一组区域段的风险参数来确定每条候选路径的总风险值,选择至少一条候选路径中的满足风险值标准的候选路径,以及在输出端生成表示所选择的候选路径的第一信号。


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    Titel :

    Path planning in automated driving environment


    Weitere Titelangaben:

    自动驾驶环境中的路径规划


    Beteiligte:

    Erscheinungsdatum :

    2022-03-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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