Methods for planning a trajectory for an autonomous vehicle are disclosed. A vehicle motion planning system will determine a reference curve that represents a path via which the vehicle may travel. The system will detect an actor that is moving in the environment. The system will segment the reference curve according to time intervals. For each of the time intervals, the system will identify a bounding geometry for the actor, predict a lateral offset distance between the reference curve and the actor, and use the predicted lateral offset distance to determine whether to alter a planned trajectory for the autonomous vehicle.


    Access

    Download


    Export, share and cite



    Title :

    Motion planning in curvilinear coordinates for autonomous vehicles


    Contributors:

    Publication date :

    2024-01-30


    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



    MOTION PLANNING IN CURVILINEAR COORDINATES FOR AUTONOMOUS VEHICLES

    SEEGMILLER NEAL / BARONE PATRICK / VENATOR ED | European Patent Office | 2022

    Free access

    MOTION PLANNING IN CURVILINEAR COORDINATES FOR AUTONOMOUS VEHICLES

    SEEGMILLER NEAL / BARONE PATRICK / VENATOR ED | European Patent Office | 2022

    Free access

    Map-based curvilinear coordinates for autonomous vehicles

    Hery, Elwan / Masi, Stefano / Xu, Philippe et al. | IEEE | 2017


    Motion planning in autonomous vehicle curvilinear coordinate system

    SEEGMILLER NEIL / BARON PATRICK / VINAT ED | European Patent Office | 2023

    Free access

    Extended Object Tracking in Curvilinear Road Coordinates for Autonomous Driving

    Dahal, Pragyan / Mentasti, Simone / Arrigoni, Stefano et al. | IEEE | 2023