A method of improving a planned trajectory of an autonomous vehicle is disclosed. For multiple cycles as the vehicle moves along the trajectory, the vehicle will perceive nearby objects. The vehicle will calculate a set of candidate updated trajectories using the perceived object data. The motion planning system is to measure a difference between each candidate updated trajectory and a current trajectory by: (i) determining a waypoint along each trajectory; (ii) determining a distance between at least some of the waypoints; and (iii) using the distance to measure a difference between the updated trajectory and the current trajectory. The system will use the difference to select a final updated trajectory to be followed by the vehicle from the set of candidate updated trajectories.
公开了改进自主交通工具的规划轨迹的方法。对于当交通工具沿着轨迹移动时的多个循环,交通工具将感知附近对象。交通工具将使用感知到的对象数据来计算一组候选更新轨迹。运动规划系统将通过以下操作来测量每个候选更新轨迹与当前轨迹之间的差异:(i)确定沿着每个轨迹的路点;(ii)确定所述路点中的至少一些路点之间的距离;以及(iii)使用所述距离来测量所述更新轨迹与所述当前轨迹之间的差异。所述系统将使用所述差异从所述一组候选更新轨迹中选择所述交通工具要遵循的最终更新轨迹。
Track consistency measurement for autonomous vehicle operation
用于自主交通工具操作的轨迹一致性测量
2024-03-12
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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