An autonomous vehicle guidance system generates a path for controlling an autonomous vehicle based at least in part on a data structure generated based at least in part on sensor data, the data structure may indicate an occupied space in an environment around the autonomous vehicle. The guidance system may receive a grid and generate a grid associated with the grid and the data structure. The guidance system may additionally or alternatively dynamically subsample the grid (lateral and/or longitudinal) based at least in part on features determined from the data structure. The guidance system may determine, based at least in part on the pre-computed set of motion primitives, costs associated therewith, and/or a heuristic cost graph, a path indicating the lowest cost of moving from one gesture to another.

    一种自动驾驶车辆引导系统,该系统至少部分地基于数据结构生成用于控制自动驾驶车辆的路径,数据结构至少部分地基于传感器数据生成,数据结构可表明自动驾驶车辆周围环境中的被占用空间。引导系统可以接收网格并生成与该网格和数据结构相关联的网格。引导系统可以附加地或备选地至少部分地基于从数据结构确定的特征来动态地对网格进行子采样(横向和/或纵向)。引导系统可以至少部分地基于预计算的运动基元集、与之相关联的成本和/或启发式成本图表来确定路径,该路径指示从一个姿势移动到另一个姿势的最低廉成本。


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    Title :

    Unstructured vehicle path planner


    Additional title:

    非结构化的车辆路径规划器


    Contributors:

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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