Embodiments of the present disclosure relate to behavioral planning for autonomous vehicles. Techniques described herein select a preferred trajectory for an autonomous vehicle based on evaluation of a plurality of hypothetical trajectories by different components within a planning system. Each component provides an optimization score for each trajectory according to the priority of the component, and scores from multiple components may form a final optimization score. The scoring system allows contemporaneous consideration of competitive priorities (e.g., comfort, shortest travel time, fuel economy) for different components. In an example, a trajectory with an optimal combination score may be selected for implementation. Thus, the optimal or preferred trajectory of the autonomous vehicle can be identified while navigating the environment using an iterative approach that evaluates various factors.
本公开的实施例涉及自主车辆的行为规划。本文所述技术基于规划系统内不同组件对多个假设轨迹的评估来选择自主车辆的优选轨迹。各个组件根据组件的优先级为每个轨迹提供优化分数,并且来自多个组件的分数可以形成最终的优化分数。该评分系统允许同时考虑不同组件的竞争优先级(例如,舒适性、最短行驶时间、燃油经济性)。在示例中,可以选择具有最佳组合分数的轨迹用以实施。因此,可以使用评估各种因素的迭代方法在导航环境时识别自主车辆的最佳或优选轨迹。
Behavior planning for autonomous vehicles
自主车辆的行为规划
2022-10-11
Patent
Elektronische Ressource
Chinesisch
IPC: | 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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