Techniques for compensating for errors in a position of a vehicle are disclosed. In some cases, there may be a difference between a measured state of a vehicle and a desired state determined by a system of the vehicle. Techniques and methods for a planning architecture for an autonomous vehicle can provide a trajectory that maintains smooth while the vehicle follows a planned path or route. In some cases, a planning architecture of an autonomous vehicle may compensate for differences between an estimated state and a planned path without the use of a separate system. In this example process, the planning architecture may include a task planning system, a decision system, and a tracking system that together output a trajectory for the drive system.
本发明公开了一种用于补偿车辆的位置中的误差的技术。在一些情况下,车辆的测量状态和由车辆的系统确定的期望状态之间可能存在差异。用于自主车辆的规划架构的技术和方法能够在车辆遵循规划的路径或路线时提供维持平滑的轨迹。在一些情况下,自主车辆的规划架构可以补偿估计状态和规划路径之间的差别,而无需使用单独的系统。在该示例过程中,规划架构可以包括任务规划系统、决策系统和跟踪系统,它们一起输出用于驱动系统的轨迹。
System and method for adjusting planned trajectory of autonomous vehicle
用于调整自主车辆的规划轨迹的系统和方法
2022-10-04
Patent
Electronic Resource
Chinese
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