A method for planning a trajectory of an autonomous vehicle is disclosed herein. The vehicle motion planning system will determine a reference curve representative of a path on which the vehicle may travel. The system will detect an actor moving in the environment. The system segments the reference curve according to the time interval. For each time interval, the system will identify a boundary geometry of the actor, predict a lateral offset distance between the reference curve and the actor, and use the predicted lateral offset distance to determine whether to change a planned trajectory of the autonomous vehicle.
本文公开了用于规划自主车辆的轨迹的方法。车辆运动规划系统将确定代表车辆可以行驶的路径的参考曲线。系统将检测正在环境中移动的行动者。系统将根据时间区间对参考曲线进行分段。对于每个时间区间,系统将识别行动者的边界几何图形,预测参考曲线与行动者之间的横向偏移距离,并且使用预测的横向偏移距离来确定是否改变自主车辆的规划轨迹。
Motion planning in autonomous vehicle curvilinear coordinate system
自主车辆曲线坐标系下的运动规划
2023-08-01
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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