A motion planner of a computer system of a primary agent, e.g., an autonomous vehicle, uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the primary agent prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the primary agent, the system sets a probability of collision with another agent, e.g., a dynamic object, in the environment based at least in part on the collision assessment. Depending on whether the goal of the primary agent is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively low or relatively high potential of a collision with the particular dynamic object. The system then causes the actuator system of the primary agent to implement a motion plan with the applicable identified path based at least in part on the optimization.
主要主体,例如,自动驾驶车辆,的计算机系统的运动规划器,在执行运动规划前先使用可重新配置的碰撞检测体系结构硬件对主要主体的规划图进行碰撞评估。系统至少部分的基于碰撞评估,针对表示主要主体的状态间的转换的规划图上的边缘,设置与环境中的另一主体(例如,动态对象)碰撞的概率。根据主要主体的目标是避免与环境中的特定动态对象碰撞还是与环境中的特定动态对象碰撞,系统然后执行优化以在所得规划图中识别一条路径,在该路径中,与特定的动态对象碰撞的可能性相对低或相对高。所述系统随后使主要主体的制动器系统至少部分基于优化用可应用的识别的路径来实现运动规划。
APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN ENVIRONMENT HAVING DYNAMIC OBJECTS
在具有动态对象环境中促进运动规划的设备、方法和物体
2021-08-06
Patent
Electronic Resource
Chinese
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS
European Patent Office | 2020
|APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS
European Patent Office | 2022
|European Patent Office | 2024
|European Patent Office | 2022
|European Patent Office | 2019
|