An autonomous vehicle capable of trajectory prediction may include a first sensor, a second sensor, a processor, a trajectory planner, a low-level controller, and vehicle actuators. The first sensor may be of a first sensor type and may detect an obstacle and a goal. The second sensor may be of a second sensor type and may detect the obstacle and the goal. The processor may perform matching on the obstacle detected by the first sensor and the obstacle detected by the second sensor, model an existence probability of the obstacle based on the matching, and track the obstacle based on the existence probability and a constant velocity model. The trajectory planner may generate a trajectory for the autonomous vehicle based on the tracked obstacle, the goal, and a non-linear model predictive control (NMPC). The low-level controller may implement the trajectory for the autonomous vehicle by driving vehicle actuators.
TRAJECTORY PLANNER
2021-03-18
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |
AIAA | 1997
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