An autonomous vehicle identifies an intersection, identifies an object in proximity to the intersection, identifies a plurality of outlets of the intersection, and, for each outlet, identifies a polyline associated with the outlet, identifies a target point along the polyline, and determines a constant curvature path from the object to the target point. The system determines a score associated with each outlet based at least in part on the constant curvature path of the outlet, generates a pruned set of outlets that includes one or more of the outlets from the plurality of outlets based on its score, and for each outlet in the pruned set, generates a reference path from the object to the target point of the outlet.
METHODS AND SYSTEMS FOR PERFORMING OUTLET INFERENCE BY AN AUTONOMOUS VEHICLE TO DETERMINE FEASIBLE PATHS THROUGH AN INTERSECTION
2022-04-07
Patent
Elektronische Ressource
Englisch
IPC: | 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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