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 objects detected in sensor data from a perception sensor of a second module 32; the second module 32 further identifies surrounding objects by rule-based models 70 and machine learning models 72, 82, 84 and adjusts the trajectory 92 based on the identified objects. 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. Nominal trajectory and minimum risk manoeuvre MRM may be generated and adjusted.


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    Titel :

    Generating a trajectory for an autonomous vehicle


    Beteiligte:
    ANDREW ENGLISH (Autor:in) / NORINA RATIU (Autor:in) / CHI TONG (Autor:in) / BEN UPCROFT (Autor:in)

    Erscheinungsdatum :

    19.02.2025


    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



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