Systems and methods for controlling an autonomous vehicle are described. The trajectory planner module provides a first trajectory to the trajectory control module. The trajectory control module determines a parameter of the first trajectory. The trajectory control module compares the parameters to corresponding thresholds. The trajectory control module obtains one or more alternative trajectories, determines a parameter for each alternative trajectory, and compares the parameters of the alternative trajectories to corresponding thresholds. The trajectory control module selects a trajectory for controlling the autonomous vehicle, the trajectory having parameters within a range defined by a threshold, and controls the autonomous vehicle based on the selected trajectory. Thus, the trajectory control module selects a trajectory for controlling the autonomous vehicle from among the alternative trajectories prior to the control being handed back to the driver.
描述了用于控制自主车辆的系统和方法。轨迹规划器模块向轨迹控制模块提供第一轨迹。轨迹控制模块确定第一轨迹的参数。轨迹控制模块将参数与相应的阈值进行比较。轨迹控制模块获得一个或多个替代轨迹,确定每个替代轨迹的参数,并将替代轨迹的参数与相应的阈值进行比较。轨迹控制模块选择用于控制自主车辆的轨迹,该轨迹具有在由阈值限定的范围内的参数,并基于选择的轨迹控制自主车辆。因此,在将控制交还给驾驶员之前,轨迹控制模块从替代轨迹中选择用于控制自主车辆的轨迹。
Track selection for controlling autonomous vehicles
用于控制自主车辆的轨迹选择
2022-07-19
Patent
Electronic Resource
Chinese
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 |
Along-Track Localization for Cooperative Autonomous Vehicles
British Library Conference Proceedings | 2017
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