An autonomous vehicle identifies an intersection, identifies an object near the intersection, identifies a plurality of exit roads of the intersection, and for each exit road, identifies a polyline associated with the exit road, identifies a target point along the polyline, and determines a constant curvature path from the object to the target point. The system determines a score associated with each exit path based at least in part on a constant curvature path of the exit paths, generates an exit path pruned set comprising one or more exit paths of the plurality of exit paths based on the scores of the exit paths, and generates, for each exit path in the pruned set, a reference path from the object to a target point of the exit path.
自主车辆识别交叉路口,识别交叉路口附近的对象,识别交叉路口的多个出路,并且对于每个出路,识别与出路相关联的多段线,识别沿着多段线的目标点,并且确定从对象到目标点的恒定曲率路径。该系统至少部分基于出路的恒定曲率路径来确定与每个出路相关联的分数,基于出路的分数来生成包括多个出路中的一个或多个出路的出路剪枝集,以及对于剪枝集中的每个出路,生成从对象到出路的目标点的参考路径。
Method and system for performing departure inference by autonomous vehicles to determine viable paths through intersections
2024-05-28
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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