A vehicle trajectory planning system includes a perception system of a host vehicle that collects information from a plurality of sources and communicates with a computer. The fusion module fuses the scene information from the map and the perception items recognized by the perception system. A behavioral planning module receives an output of the fusion module and generates a host vehicle baseline trajectory. A trajectory and motion planning module receives an output of the fusion module in parallel with the behavior planning module. A trajectory and motion planning module determines a reference trajectory and a lane of travel for the host vehicle. The disturbance and reachability refiner module receives the output of the trajectory and motion planning module, including a reference trajectory and a running channel. Algorithms are applied to adjust and re-plan the host vehicle baseline trajectory to steadily adapt to a range of severe weather conditions.
本发明提供一种车辆轨迹规划系统包括主车辆的感知系统,该感知系统从多个来源收集信息并与计算机通信。融合模块融合来自地图的场景信息和感知系统识别的感知项目。行为规划模块接收融合模块的输出并产生主车辆基线轨迹。轨迹和运动规划模块与行为规划模块并行地接收融合模块的输出。轨迹和运动规划模块确定主车辆的参考轨迹和运行通道。扰动和可达性细化器模块接收轨迹和运动规划模块的输出,包括参考轨迹和运行通道。应用算法来调整和重新规划主车辆基线轨迹,以稳健地适应一系列恶劣天气条件稳健适应性。
Robust trajectory planning using data driven reachability channels
使用数据驱动可达性通道的稳健轨迹规划
2024-06-11
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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