To provide a system and a method for parallel processing of a vehicle path planning suitable for parking.SOLUTION: To determine a path through a pose configuration space, trajectories of poses may be evaluated in parallel based at least on translating the trajectories along at least one axis of the pose configuration space (e.g., an orientation axis). A trajectory may include at least a portion of a turn having a fixed turn radius. Turns or turn portions that have the same turn radius and initial orientation can be translatively shifted along and processed in parallel along the orientation axis as they are translated copies of each other, but with different starting points. Trajectories may be evaluated based at least on processing variables used to evaluate reachability as bit vectors with threads, effectively performing large vector operations in synchronization. A parallel reduction pattern may be used to account for dependencies that may exist between sections of a trajectory for evaluating reachability, allowing for the sections to be processed in parallel.SELECTED DRAWING: Figure 1A

    【課題】駐車に適した車両進路計画立案の並列処理向けのシステム及び方法を提供する。【解決手段】姿勢構成空間を通る進路を決定するべく、姿勢の軌道は、姿勢構成空間の少なくとも1つの軸(たとえば、配向軸)に沿って軌道を並進させることに少なくとも基づき、並列に評価される。軌道は、一定のターン半径を有するターンの少なくとも一部を含む。同じターン半径と初期方向のターン又はその部分は、互いに並進させた複製だが異なる開始点を有するため、配向軸に沿って並進的にシフトされ、並列に処理される。軌道は、到達可能性の評価に使用される変数を、スレッドでビット・ベクトルとして処理することに少なくとも基づいて評価され、効果的に大規模なベクトル演算を同期して実施する。並列リダクション・パターンを使用して、到達可能性の評価用の軌道のセクション間に存在する依存性を考慮し、セクションが並列に処理される。【選択図】図1A


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    Title :

    PARALLEL PROCESSING OF VEHICLE PATH PLANNING SUITABLE FOR PARKING


    Additional title:

    駐車に適した車両進路計画立案の並列処理


    Contributors:

    Publication date :

    2023-01-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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