Systems, methods and computer-readable media for path planning for an autonomous vehicle, comprising receiving data defining an upper bound of a spatio-temporal convex corridor and lower bound of the spatio-temporal convex corridor; computing a plurality of control point times within a corridor start time and a corridor end time, the control point times including at least a start control point time, an end control point time and an intermediate control point time between the start control point time and the end control point time; determining, for each of the control point times, respective control point maximum values and control point minimum values; computing, based on the respective control point maximum values and the respective control point minimum values, respective control point values for each of the control point times, the control point values defining a curve segment that is within the upper bound and the lower bound of the spatio-temporal convex corridor.
MOTION PLANNING USING SPATIO-TEMPORAL CONVEX CORRIDORS
BEWEGUNGSPLANUNG MIT RÄUMLICH-ZEITLICHEN KONVEXEN KORRIDOREN
PLANIFICATION DE MOUVEMENT À L'AIDE DE COULOIRS CONVEXES SPATIO-TEMPORELS
2024-07-17
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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