A perception module is configured to perceive a driving environment surrounding an autonomous driving vehicle (ADV) based on sensor data, and to generate perception information using various perception models or methods. The perception information describes the perceived driving environment. Based on the perception information, a planning module is configured to plan a trajectory representing a route or a path for a current planning cycle. The ADV is then controlled and driven based on the trajectory. In addition, the planning module determines a critical region (also referred to as a critical area) surrounding the ADV based on the trajectory in view of a current location or position of the ADV. The metadata describing the critical region is transmitted to the perception module via an application programming interface (API) to allow the perception module to generate perception information for a next planning cycle in view of the critical region.
PERCEPTION AND PLANNING COLLABORATION FRAMEWORK FOR AUTONOMOUS DRIVING
2019-10-03
Patent
Elektronische Ressource
Englisch
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 |
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