A computer-readable medium stores instructions executable by one or more processors to implement a self-driving control architecture for controlling an autonomous vehicle. A perception and prediction component receives sensor data, and generates (1) an observed occupancy grid indicating which cells are currently occupied in a two-dimensional representation of the environment, and (2) predicted occupancy grids indicating which cells are expected to be occupied later. A mapping component provides navigation data for guiding the vehicle toward a destination, and a cost map generation component is configured to generate, based on the observed occupancy grid, the predicted occupancy grid(s), and the navigation data, cost maps that each specify numerical values representing a cost, at a respective instance of time, of occupying certain cells in a two-dimensional representation of the environment. A motion planner generates a grid path through the environment based on the cost maps, and corresponding decisions for maneuvering the vehicle.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Controlling an autonomous vehicle using cost maps


    Beteiligte:
    ENGLARD BENJAMIN (Autor:in) / GANDHI GAURI (Autor:in) / MAHESHWARI PRANAV (Autor:in)

    Erscheinungsdatum :

    2020-03-31


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    AUTONOMOUS VEHICLE ROUTING USING ANNOTATED MAPS

    DEAN ROBERT / NAGY BRYAN / STENTZ ANTHONY et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    METHOD FOR CONTROLLING AUTONOMOUS VEHICLE, AND AUTONOMOUS VEHICLE

    WANG WEI | Europäisches Patentamt | 2022

    Freier Zugriff

    AUTONOMOUS VEHICLE AND METHOD FOR CONTROLLING AUTONOMOUS VEHICLE

    CRONIN JOHN / WILSON DYLAN JONATHAN | Europäisches Patentamt | 2022

    Freier Zugriff

    CONTROLLING AUTONOMOUS VEHICLE FUNCTIONS

    MARZORATI MAURO / RODRIGUEZ BRAVO CESAR AUGUSTO / MONGE NUNEZ ROXANA et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Controlling an autonomous vehicle

    ALEX STEWART / HORIA PORAV / PAUL NEWMAN | Europäisches Patentamt | 2023

    Freier Zugriff