A computer-implemented method of generating a trajectory for an autonomous vehicle, AV, using an autonomy stack. The autonomy stack includes an end-to-end network trained to generate a trajectory for the AV from sensor inputs, a tracking module and a planning module. The computer implemented method comprises receiving, by the tracking module, a plurality of objects identified based on sensor inputs S100. Fusing, by the tracking module, the plurality of objects S102 and generating, using the planning module, a further trajectory for the AV based on the fused plurality of objects and the trajectory generated by the end-to-end network S104. The system may use occupancy grids and these can include the state of the objects detected and predict their future movements.
Generating a trajectory for an autonomous vehicle
01.02.2023
Patent
Elektronische Ressource
Englisch