Systems, methods, and computer program products for vehicle path planning are disclosed herein. The method includes estimating a current state of the vehicle based on sensor data; generating a control error representing a difference between the estimated current state of the vehicle and a desired state of the vehicle described by a previously published trajectory; comparing the control error with a threshold value; generating a first plan for the vehicle using an open-loop path planning method when the control error is below a threshold value, or generating a second plan for the vehicle using a closed-loop path planning method when the control error is above the threshold value; and causing the vehicle to execute the first plan or the second plan.
本文公开了用于车辆路径规划的系统、方法和计算机程序产品。方法包括:基于传感器数据估计车辆的当前状态;生成表示估计的车辆的当前状态与由先前发布的轨迹所描述的车辆的期望状态之间的差的控制误差;将控制误差与阈值进行比较;当控制误差低于阈值时,使用开环路径规划方法为车辆生成第一计划,或者当控制误差高于阈值时,使用闭环路径规划方法为车辆生成第二计划;以及使车辆执行第一计划或第二计划。
Open loop and closed loop mixed path planning system and method
开环与闭环混合路径规划系统与方法
2023-12-05
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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