An autonomous vehicle can implement a primary motion planner to continuously determine an first motion plan for the AV, and a secondary motion planner to continuously determine a backup motion plan for the AV. The secondary motion planner can comprise one or more cost metrics that act to diverge the backup motion plan from the first motion plan. A control system of the AV may then analyze a live sensor view generated by a sensor suite of the AV to operate acceleration, braking, and steering systems of the AV along sequential route trajectories selected between the first motion plan and the backup motion plan.


    Access

    Download


    Export, share and cite



    Title :

    Hierarchical motion planning for autonomous vehicles


    Contributors:

    Publication date :

    2019-12-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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



    HIERARCHICAL MOTION PLANNING FOR AUTONOMOUS VEHICLES

    KROOP BENJAMIN / WAY MATTHEW / BRADLEY DAVID MCALLISTER | European Patent Office | 2018

    Free access

    Dynamic motion planning of autonomous vehicles

    Shiller, Z. / Gwo, Y.R. | Tema Archive | 1991



    Hierarchical Motion Planning and Control Algorithm of Autonomous Racing Vehicles for Overtaking Maneuvers

    Kim, Changhee / Yi, Kyongsu / Park, Jaeyong | British Library Conference Proceedings | 2023


    MOTION PLANNING CONSTRAINTS FOR AUTONOMOUS VEHICLES

    KATZOURAKIS DIOMIDIS / ALSTERDA JOHN P / HINDIYEH RAMI Y et al. | European Patent Office | 2024

    Free access