A method for contingency planning for an autonomous vehicle (AV) includes determining a nominal trajectory for the AV; detecting a hazard object that does not intrude into a path of the AV at a time of the detecting the hazard object; determining a hazard zone for the hazard object; determining a time of arrival of the AV at the hazard zone; determining a contingency trajectory for the AV; controlling the AV according to the contingency trajectory; and, in response to the hazard object intruding into the path of the AV, controlling the AV to perform a maneuver to avoid the hazard object. The contingency trajectory includes at least one of a lateral contingency or a longitudinal contingency. The contingency trajectory is determined using the time of arrival of the AV at the hazard zone.
CONTINGENCY PLANNING AND SAFETY ASSURANCE
KONTINGENZPLANUNG UND SICHERHEITSGEWÄHRLEISTUNG
PLANIFICATION DE MESURES D'URGENCE ET ASSURANCE DE SÉCURITÉ
2022-12-14
Patent
Elektronische Ressource
Englisch
Springer Verlag | 2024
|Online Contents | 2001
Transportation energy contingency planning
SLUB | 1981
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