A method for monitoring uncertainty of human-like behavior adjustments for trajectory planning includes: retrieving a map and proxy information of a current driving state of an autonomously operating host motor vehicle; dividing uncertainty conditions affecting the trajectory of the primary motor vehicle into expected uncertainty and unexpected uncertainty; calculating the expected uncertainty in a first operating branch by forming an attention zone from an identified portion of a lane that may potentially collide with a planned route of the host motor vehicle; determining the unexpected uncertainty in a second operating branch by calculating an anomaly score for any other vehicle located in a surrounding area of the host motor vehicle in the lane that may potentially collide with the planned route of the host motor vehicle; and, if the unexpected uncertainty reaches or exceeds a predetermined threshold, adjusting a trajectory manipulation signal determined for the expected uncertainty.
一种用于监测轨迹规划的类人行为调节的不确定性的方法,其包括:检索自主操作的主机动车辆的当前驾驶状态的地图和代理信息;将影响所述主机动车辆轨迹的不确定性条件分成预期不确定性和意外不确定性;在第一操作分支中通过根据车道的识别部分形成注意区来计算所述预期不确定性,所述车道的识别部分可能潜在地与所述主机动车辆的计划路线发生冲突;通过计算位于可能潜在地与所述主机动车辆的所述计划路线发生冲突的所述车道中的所述主机动车辆的周围区域中的任何其他车辆的异常分数,确定第二操作分支中的所述意外不确定性;以及,如果所述意外不确定性达到或超过预定阈值,则调节针对所述预期不确定性确定的轨迹操作信号。
Uncertainty monitoring of human-like behavior adjustment for trajectory planning
轨迹规划的类人行为调节的不确定性监测
2023-03-31
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 |
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