Method of detecting surrounding obstacles from sensor data and generating a trajectory 68 based on the detected obstructions by a first module 30 (fig 2); and a second module 32 identifying surrounding objects by rule-based models 70 and machine learning models 72, 82, 84 and adjusting the trajectory 92 based on the identified objects. A nominal trajectory and a minimal risk manoeuvre MRM trajectory are generated in parallel, and the second module 32 adjust either or both trajectories for object avoidance. The objects may be labelled semantically by the first module 30. First module 30 may be trained on images; and second module 32 on radar or LIDAR point cloud. Occupancy grids 96 may be generated by ML models 82, 84, which may be validated against a grid 96 generated by rule-based model 70. Each grid cell may have a state of occupied with object velocity, free-space, and occluded. Validation may not be required if the confidence of each state is above threshold. Each cell may contain AV constraints e.g. acceleration, steering angle and rate, jerk, and velocity.
Generating a trajectory for an autonomous vehicle
2024-06-26
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 |