Method of planning a route for an AV, 100, the method comprising: obtaining a set of candidate constraints 1302 for a road segment to be traversed by a vehicle; determining a plurality of homotopies 1304a-1304n, each including a different combination of said candidate constraints. For each homotopy, a first prediction of vehicle motion is generated according to a first degree of precision, and a determination is made that the vehicle can traverse the road segment according to a subset of feasible homotopies. Further, a plurality of trajectories 1306a-1306n are determined according to the subset of the homotopies, including generating at least one second prediction of the vehicle motion according to a second degree of precision, greater than the first degree of precision, and selecting one of the trajectories based on a quality metric. The selected trajectory is transmitted to a control circuit of the vehicle to instruct it to traverse the road segment according to the trajectory.
Homotopic-based planner for autonomous vehicles
2024-01-10
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 |