A trajectory planning system may be used to select a trajectory for an autonomous vehicle. Scene data associated with a vehicle is obtained and a number of trajectories are generated based on that scene data. The scene data may include position, orientation, heading, velocity acceleration of the vehicle or objects in the scene. Objects may include vehicles, pedestrians, cyclist, buildings, signs etc. A number of features are extracted from a particular trajectory and can include whether a collision is detected during the trajectory, collision with other tracks, traffic light rules, proximity to centre line of vehicle route, whether or how many pedestrians intersect with the trajectory, vehicle speeds, distance to turn stop, acceleration etc. The particular trajectory is evaluated based on the plurality of extracted features and a vehicle planning policy where the policy may indicate that all actions that are physically possible are to be considered available or that available actions are be selected based on the scene data, safety thresholds and comfort thresholds. A first trajectory is selected based on the evaluation and causes the vehicle to be controlled based on the first trajectory.
Trajectory planning based on extracted trajectory features
2024-02-21
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 |
Trajectory planning based on extracted trajectory features
Europäisches Patentamt | 2023
TRAJECTORY PLANNING BASED ON EXTRACTED TRAJECTORY FEATURES
Europäisches Patentamt | 2024
|TRAJECTORY PLANNING BASED ON EXTRACTED TRAJECTORY FEATURES
Europäisches Patentamt | 2023
|