Trajectory planning for a vehicle in a scene 620, by determining multiple potential vehicle actions 630 (e.g. accelerating, braking, steering, maintaining speed), simulating multiple future states 622 for each action 630, simulating multiple trajectories 621A beginning at the simulated states 622 responsive to predicted actions of surrounding objects in the scene 620, and selecting an action 630 for the vehicle. Only physically possible actions 630 may be simulated, and actions failing comfort or safety threshold may be filtered. Each state 622 and trajectory may be scored and weighted based on their features. Successive actions 630 may be simulated, and second simulated states 624 may influence generation of second simulated trajectories 621B, taking into account predicted successive actions of surrounding objects. Successive trajectories 621B may be scored. Scene data 620 may include map, route, obstacles or vehicle location data. Scene data 620 may be from camera, LIDAR or RADAR.
Vehicle action selection based on simulated states
2023-10-11
Patent
Electronic Resource
English
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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