Devices, systems, and methods are provided for counter-steering penalization. A device may analyze, by one or more processors, lane geometry associated with one or more lanes at a geographic location. The device may identify one or more corners in the lane geometry. The device may select one or more desired maximum steering angles of a steering wheel of an autonomous vehicle. The device may select weight values associated with the one or more desired maximum steering angles. The device may execute a path planning optimization based on the one or more desired maximum steering angles and the weight values.
COUNTER-STEERING PENALIZATION DURING VEHICLE TURNS
2022-10-06
Patent
Electronic Resource
English
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