Systems and methods for controlling navigation of an autonomous vehicle through an intersection are disclosed. The methods include determining a loiter pose of an autonomous vehicle for stopping at a point within the intersection before initiating an unprotected turn for traversing the intersection. One or more distinct classes of trajectories are then identified, each of which is associated with multiple trajectories that take the same combination of discrete actions with respect to the loiter pose. A constraint set for each of the one or more distinct classes of trajectories is then be computed based on the loiter pose, and a candidate trajectory is determined for each of the one or more distinct classes based on the corresponding constraint set. A trajectory for the autonomous vehicle for executing the unprotected turn for traversing the intersection is selected from amongst the candidate trajectories.
METHODS AND SYSTEMS FOR GENERATING TRAJECTORY OF AN AUTONOMOUS VEHICLE FOR TRAVERSING AN INTERSECTION
27.10.2022
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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