A motion planner of a computer system of a primary agent, e.g., an autonomous vehicle, uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the primary agent prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the primary agent, the system sets a probability of collision with another agent, e.g., a dynamic object, in the environment based at least in part on the collision assessment. Depending on whether the goal of the primary agent is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively low or relatively high potential of a collision with the particular dynamic object. The system then causes the actuator system of the primary agent to implement a motion plan with the applicable identified path based at least in part on the optimization.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS


    Weitere Titelangaben:

    VORRICHTUNG, VERFAHREN UND ARTIKEL ZUR ERLEICHTERUNG DER BEWEGUNGSPLANUNG IN EINER UMGEBUNG MIT DYNAMISCHEN OBJEKTEN
    APPAREIL, PROCÉDÉ ET ARTICLE FACILITANT LA PLANIFICATION DE DÉPLACEMENT D'UN VÉHICULE AUTONOME DANS UN ENVIRONNEMENT COMPORTANT DES OBJETS DYNAMIQUES


    Beteiligte:
    SORIN DANIEL (Autor:in) / FLOYD-JONES WILLIAM (Autor:in) / MURRAY SEAN (Autor:in) / KONIDARIS GEORGE (Autor:in) / WALKER WILLIAM (Autor:in)

    Erscheinungsdatum :

    2022-01-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN ENVIRONMENT HAVING DYNAMIC OBJECTS

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING OF AN AUTONOMOUS VEHICLE IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING OF AN AUTONOMOUS VEHICLE IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | Europäisches Patentamt | 2019

    Freier Zugriff