Systems, methods, and computer-readable media for path planning for autonomous vehicles are provided. The method includes: receiving data defining an upper bound of a space-time convex corridor and a lower bound of the space-time convex corridor; calculating a plurality of control point times in the corridor start time and the corridor end time, the plurality of control point times at least comprising a start control point time, an end control point time and an intermediate control point time between the start control point time and the end control point time; determining a plurality of control point maximum values and a plurality of control point minimum values for the plurality of control point times; and calculating a plurality of control point values for the plurality of control point times according to the plurality of control point maximum values and the plurality of control point minimum values, the plurality of control point values defining curve segments within the upper bound and the lower bound of the space-time convex corridor.
本发明提供了用于自动驾驶车辆的路径规划的系统、方法和计算机可读介质。所述方法包括:接收数据,其中,所述数据限定时空凸形走廊的上界和所述时空凸形走廊的下界;计算走廊开始时间和走廊结束时间内的多个控制点时间,其中,所述多个控制点时间至少包括开始控制点时间、结束控制点时间和介于所述开始控制点时间和所述结束控制点时间之间的中间控制点时间;为所述多个控制点时间确定多个控制点最大值和多个控制点最小值;根据所述多个控制点最大值和所述多个控制点最小值,为所述多个控制点时间计算多个控制点值,其中,所述多个控制点值限定在所述时空凸形走廊的所述上界和所述下界内的曲线段。
Motion planning using spatio-temporal convex corridors
使用时空凸形走廊的运动规划
2024-04-19
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |