Aspects of the disclosure provide a method of processing trajectories. For instance, a planned trajectory may be received. A behavior prediction of the other road user may be received. For a sub portion of a plurality of sub portions of the planned trajectory, whether the sub portion conflicts with the behavior prediction of the other road user may be determined. When the sub portion is determined to conflict, whether the sub portion and the behavior prediction of the other road user meet at least one of a plurality of sets of preconditions may be determined. When the sub portion and the behavior prediction of the other road user are determined to meet at least one of the plurality of sets of preconditions, the planned trajectory may be annotated with a reaction for the other road user. The annotated planned trajectory may be used to control the autonomous vehicle.
Trajectory planning with other road user reactions for autonomous vehicles
2024-07-16
Patent
Electronic Resource
English
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 |
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