다른 것들 중에서, 자율 주행 차량에 대한 루트를 계획하기 위한 기술이 기술된다. 일례로서, 차량이 횡단할 도로 세그먼트에 대한 후보 제약 세트가 취득된다. 복수의 호모토피가 결정되는데, 각각은 후보 제약의 상이한 각각의 조합을 포함한다. 각각의 호모토피에 대해, 제1 정밀도 정도에 따라 차량의 제1 모션 예측이 생성되고, 차량이 호모토피의 서브세트에 따라 도로 세그먼트를 횡단할 수 있다는 결정이 내려진다. 또한, 제1 정밀도보다 높은 제2 정밀도에 따라 차량의 적어도 하나의 제2 모션 예측을 생성하는 것과 궤적 중 하나를 선택하는 것을 포함해, 호모토피의 서브세트에 따라 복수의 궤적이 결정된다.

    Among other things, techniques are described for planning a route for an autonomous vehicle. As an example, a set of candidate constraints for a road segment to be traversed by a vehicle is obtained. A plurality of homotopies are determined, each including a different respective combination of the candidate constraints. For each homotopy, a first prediction of a motion of the vehicle 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 the homotopies. Further, a plurality of trajectories are determined according to the subset of the homotopies, including generating at least one second prediction of the motion of the vehicle according to a second degree of precision greater than the first degree of precision, and selecting one of the trajectories.


    Access

    Download


    Export, share and cite



    Title :

    HOMOTOPIC-BASED PLANNER FOR AUTONOMOUS VEHICLES


    Additional title:

    자율 주행 차량을 위한 호모토피 기반의 플래너


    Publication date :

    2025-02-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    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



    Homotopic-based planner for autonomous vehicles

    JURAJ KABZAN / EMILIO FRAZZOLI | European Patent Office | 2024

    Free access

    HOMOTOPIC-BASED PLANNER FOR AUTONOMOUS VEHICLES

    KABZAN JURAJ / FRAZZOLI EMILIO | European Patent Office | 2022

    Free access

    HOMOTOPIC-BASED PLANNER FOR AUTONOMOUS VEHICLES

    KABZAN JURAJ / FRAZZOLI EMILIO | European Patent Office | 2022

    Free access

    Homotopic-based planner for autonomous vehicles

    European Patent Office | 2023

    Free access

    Homotopic-based planner for autonomous vehicles

    JURAJ KABZAN / EMILIO FRAZZOLI | European Patent Office | 2024

    Free access