In autonomous driving, it is often useful to plan trajectories in a curvilinear coordinate frame with respect to some reference trajectory, like a path produced by a hi-level route planner. This disclosure includes techniques for developing efficient approximate path coordinate motion primitives appropriate for fast planning in autonomous driving scenarios. These primitives are approximate in that particular quantities, like the path length, acceleration, and track offset trajectory, are known with some degree of certainty, and values that depend on the curvature of the reference path can be bound. Such approximate motion primitives can be used to control the autonomous vehicle to follow the trajectory in an environment.


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    Titel :

    Trajectory generation using motion primitives


    Beteiligte:

    Erscheinungsdatum :

    2021-04-13


    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



    Trajectory generation using motion primitives

    SHECKELLS MATTHEW / CALDWELL TIMOTHY / KOBILAROV MARIN | Europäisches Patentamt | 2019

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    Trajectory Generation Using Motion Primitives

    SHECKELLS MATTHEW / CALDWELL TIMOTHY / KOBILAROV MARIN | Europäisches Patentamt | 2019

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    Path-Parameterization Approach Using Trajectory Primitives for Three-Dimensional Motion Planning

    Pachikara, Abraham J. / Kehoe, Joseph J. / Lind, Rick | ASCE | 2011