An autonomous vehicle can implement a primary motion planner to continuously determine an first motion plan for the AV, and a secondary motion planner to continuously determine a backup motion plan for the AV. The secondary motion planner can comprise one or more cost metrics that act to diverge the backup motion plan from the first motion plan. A control system of the AV may then analyze a live sensor view generated by a sensor suite of the AV to operate acceleration, braking, and steering systems of the AV along sequential route trajectories selected between the first motion plan and the backup motion plan.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Hierarchical motion planning for autonomous vehicles


    Beteiligte:

    Erscheinungsdatum :

    2019-12-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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



    HIERARCHICAL MOTION PLANNING FOR AUTONOMOUS VEHICLES

    KROOP BENJAMIN / WAY MATTHEW / BRADLEY DAVID MCALLISTER | Europäisches Patentamt | 2018

    Freier Zugriff


    MOTION PLANNING CONSTRAINTS FOR AUTONOMOUS VEHICLES

    KATZOURAKIS DIOMIDIS / ALSTERDA JOHN P / HINDIYEH RAMI Y et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Dynamic motion planning of autonomous vehicles

    Shiller, Z. / Gwo, Y.R. | Tema Archiv | 1991


    Hierarchical Motion Planning and Control Algorithm of Autonomous Racing Vehicles for Overtaking Maneuvers

    Kim, Changhee / Park, Jaeyong / Yi, Kyongsu | SAE Technical Papers | 2023