Method of selecting a trajectory for a vehicle, by generating a first set of trajectories 820, generating a second 822 and third set of trajectories 824 beginning at the end of the first trajectories set 820, identifying the hierarchical priority 906 of the behavioural rule 902 each of the trajectories 904 violates, ranking the priority of the behavioural rule 902 violated, and if a trajectory of either the second 822 or third trajectories sets 824 has a trajectory which violates a rule 902 with a lower priority than the other trajectories, navigating the vehicle according to that trajectory. Trajectories may be illustrated on a graph. A control signal command message may be sent to the vehicle controller to navigate according to the selected path. Trajectories within a set may be pruned if one is too similar to another or violates the same rules as another. Behavioural rules may include maintaining distance from a parked vehicle, reaching a destination, or staying in lane. Trajectories may be identified by minimum-violation planning, model predictive control MPC, or machine learning. Trajectories may be spatially and/or temporally separated by a threshold. Each trajectory may be updated iteratively.


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    Titel :

    Trajectory generation utilizing diverse trajectories


    Beteiligte:

    Erscheinungsdatum :

    2024-02-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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



    TRAJECTORY GENERATION UTILIZING DIVERSE TRAJECTORIES

    YAGHOUBI SHAKIBA / BELTA CALIN / MEHDIPOUR NOUSHIN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    TRAJECTORY GENERATION UTILIZING DIVERSE TRAJECTORIES

    YAGHOUBI SHAKIBA / BELTA CALIN / MEHDIPOUR NOUSHIN et al. | Europäisches Patentamt | 2024

    Freier Zugriff