A vehicle trajectory planning system includes a perception system of a host vehicle collecting information from multiple sources and communicating with a computer. A fusion module fuses scene information from a map and perception items identified by the perception system. A behavior planning module receives an output of the fusion module and produces a host vehicle baseline trajectory. A trajectory and motion planning module receives an output of the fusion module in parallel with the behavior planning module. The trajectory and motion planning module determines a reference trajectory and operation corridor for a host vehicle. A disturbance and reachability refiner module receives an output of the trajectory and motion planning module including the reference trajectory and operation corridor. An algorithm is applied to adjust and re-plan the host vehicle baseline trajectory to be robust to a range of inclement weather conditions.
Robust trajectory planning using data-driven reachability corridors
03.12.2024
Patent
Elektronische Ressource
Englisch
ROBUST TRAJECTORY PLANNING USING DATA-DRIVEN REACHABILITY CORRIDORS
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