Using a planning circuit of a vehicle, a map is accessed that includes information identifying at least one lane on which vehicles can travel. Using the planning circuit and from the map, a graph representing a driving environment of the vehicle is generated. The graph includes multiple trajectories. At least one trajectory includes a lane change. Each trajectory is a path for the vehicle to move from a first spatiotemporal location to a second spatiotemporal location. The trajectory includes at least one lane alone which the vehicle can move. Using the planning circuit, a trajectory of the multiple trajectories for the vehicle to travel is selected based on an initial vehicle trajectory of the vehicle. The selected trajectory includes a stem. The stem is a portion of the selected trajectory to which the vehicle is configured to adhere. Using the control circuit, the vehicle is moved along the selected trajectory.


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    Title :

    Motion graph construction and lane level route planning


    Publication date :

    2023-06-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English



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