Planning trajectory for an autonomous vehicle AV by receiving a route 102 and sensing positions of surrounding objects 104, defining multiple passing strategies (fig 8) around the obstructions 104, ranking the strategies, and selecting the highest ranked strategy. The AV may pass ahead or behind the objects (fig 6). A travel envelope 106 defined as a polygon in space-time may be formed for the AV from boundary lines from points where the AV intersects with the objects. When ranking the strategies, the geometric features of the polygons, such as their areas, and a width of a pinch point bottleneck, may be compared. Unreachable regions due to kinematic constraints of the AV may include top speed, maximum acceleration, or deceleration limit. The unreachable regions may be excluded from the travel envelope. Infeasible strategies may be disregarded. The future trajectories 105 of the objects may be predicted.
A computer-implemented method of determining a trajectory of an autonomous vehicle
2023-12-27
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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