Using a planning circuit of a vehicle, a map of a geographic region is accessed. The map includes information identifying at least one lane on which vehicles can travel in the geographic region. From the map, a graph (1402) representing a driving environment is generated. The graph includes multiple trajectories (1404, 1406, 1408, 1410). At least one trajectory (1408, 1410) includes a lane change. Each trajectory is a path for the vehicle to autonomously move from a first spatiotemporal location on the map to a second spatiotemporal location on the map. The trajectory includes at least one lane alone which the vehicle can move. A trajectory of the multiple trajectories for the vehicle to travel is selected based on an initial vehicle trajectory of the vehicle. The selected trajectory includes a stem. The stem is a portion of the selected trajectory to which the vehicle is configured to adhere.
使用运载工具的规划电路访问地理区域的地图。所述地图包括识别地理区域中的运载工具能够行驶的至少一个车道的信息。根据地图,生成表示驾驶环境的图(1402)。该图包括多个轨迹(1404、1406、1408、1410)。至少一个轨迹(1408、1410)包括车道改变。各个轨迹是运载工具从地图上的第一时空地点自主移动到地图上的第二时空地点的路径。轨迹包括运载工具能够移动的至少一个车道。基于运载工具的初始运载工具轨迹来选择多个轨迹的运载工具行驶的轨迹。所选择的轨迹包括主干。主干是所选择的轨迹中的运载工具被配置为附着至的部分。
MOTION GRAPH CONSTRUCTION AND LANE LEVEL ROUTE PLANNING
运动图构建和车道级路线规划
2021-07-30
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |