The invention relates to trajectory verification for autonomous driving. A method of determining whether a planned trajectory of a first vehicle on a road along which the first vehicle and a second vehicle travel is invalid, the method comprising: obtaining (S41) a planned trajectory (24), the planned trajectory comprising a first state of the first vehicle for each of a plurality of moments in time; obtaining (S42) a second state of the second vehicle for each of the plurality of moments in time; determining (S43), for each time, a respective lateral range extending from the second vehicle; and determining (S44) that the planned trajectory is invalid if: for a first state and a second state at one or more of the plurality of times: the first vehicle is within the lateral range and within the lane boundary area; and the lateral velocity of the first vehicle is directed towards the second vehicle, and the lateral acceleration of the first vehicle away from the second vehicle is less than a predetermined threshold.
本发明涉及用于自主驾驶的轨迹验证。一种确定第一车辆在第一车辆和第二车辆行驶所沿道路上的规划轨迹是否无效的方法,该方法包括:获得(S41)规划轨迹(24),规划轨迹包括所述第一车辆的针对多个时刻中的各个时刻的第一状态;获得(S42)第二车辆的针对多个时刻中的各个时刻的第二状态;针对各个时刻确定(S43)从第二车辆延伸的相应横向范围;以及在以下情况下确定(S44)规划轨迹是无效的:对于在多个时刻中的一个或更多个时刻的第一状态和第二状态:第一车辆在横向范围内并在车道边界区域内;并且第一车辆的横向速度的方向朝向第二车辆,并且第一车辆远离第二车辆的横向加速度的小于预定阈值。
Track verification for autonomous driving
用于自主驾驶的轨迹验证
2022-08-16
Patent
Elektronische Ressource
Chinesisch
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