This application relates to the field of autonomous driving, and specifically, to a method and an apparatus for determining a lateral planning constraint. The method includes: obtaining a driving reference trajectory of an autonomous vehicle on a first road, where the driving reference trajectory includes a plurality of waypoints; determining a static lateral planning constraint on a first side of a first waypoint based on a lane line on the first side of the first waypoint in the plurality of waypoints; when an actual driving trajectory of the autonomous vehicle does not deviate from the driving reference trajectory, determining an initial lateral planning constraint on the first side for the autonomous vehicle at the first waypoint based on a driving speed of the autonomous vehicle at the first waypoint, the static lateral planning constraint, and a body width of the autonomous vehicle; and determining an actual lateral planning constraint on the first side for the autonomous vehicle at the first waypoint based on at least a first distance between a first object and the first waypoint and the initial lateral planning constraint. In this method, the lateral planning constraint can change with a traffic environment.
METHOD AND APPARATUS FOR DETERMINING TRANSVERSE PLANNING CONSTRAINT
VERFAHREN UND VORRICHTUNG ZUR BESTIMMUNG EINER QUERPLANUNGSEINSCHRÄNKUNG
PROCÉDÉ ET APPAREIL PERMETTANT DE DÉTERMINER UNE CONTRAINTE DE PLANIFICATION TRANSVERSALE
2024-08-07
Patent
Elektronische Ressource
Englisch
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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