Method of detecting surrounding obstacles from sensor data and generating a trajectory 68 based on the detected obstructions by a first module 30 (fig 2); and a second module 32 identifying surrounding objects by rule-based models 70 and machine learning models 72, 82, 84 and adjusting the trajectory 92 based on the identified objects. Second aspect (fig 5) method of training ML 72, 82, 84 of second module 32 by identifying objects in sensor data, pairing the sensor inputs and objects, and training the ML models using paired data. The objects may be labelled semantically by the first module 30. First module 30 may be trained on images; and second module 32 on radar or LIDAR point cloud. Occupancy grids 96 may be generated by ML models 82, 84, which may be validated against a grid 96 generated by rule-based model 70. Each grid cell may have a state of occupied with object velocity, free-space, and occluded. Validation may not be required if the confidence of each state is above threshold. Each cell may contain AV constraints e.g. acceleration, steering angle and rate, jerk, and velocity. Nominal trajectory and minimum risk manoeuvre MRM may be generated and adjusted.


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    Title :

    Generating a trajectory for an autonomous vehicle


    Contributors:
    ANDREW ENGLISH (author) / NORINA RATIU (author) / CHI HAY TONG (author) / BEN UPCROFT (author)

    Publication date :

    2024-06-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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



    Generating a trajectory for an autonomous vehicle

    ANDREW ENGLISH / NORINA RATIU / CHI TONG et al. | European Patent Office | 2024

    Free access

    Generating a trajectory for an autonomous vehicle

    ANDREW ENGLISH / NORINA RATIU / CHI TONG et al. | European Patent Office | 2024

    Free access

    Generating a trajectory for an autonomous vehicle

    ANDREW ENGLISH / CHI HAY TONG / BEN UPCROFT | European Patent Office | 2024

    Free access

    Generating a trajectory for an autonomous vehicle

    ANDREW ENGLISH / NORINA RATIU / CHI TONG et al. | European Patent Office | 2024

    Free access