A method comprising the steps of: generating 1002 a set of alternative trajectories for a vehicle at a first pose, identifying 1004 a trajectory from the set which violates a lowest behavioural rule of a hierarchical plurality of rules, the rule having a lower priority than a priority of rules associated with other trajectories in the set; generating 1006 another set of trajectories from the next pose, the next pose located at the end of the identified trajectory; iterating 1008 this process until a goal or timeout is reached to generate a graph; and operating 1010 the vehicle based on the graph. A system and computer program products are also provided.
Graph exploration for rulebook trajectory generation
2023-07-12
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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