In some aspects and/or embodiments, systems, methods, and computer program products described herein include and/or implement technology for encoding dynamic homotopy constraints in spatio-temporal grids, including a method comprising: determining a plurality of dynamic homotopy constraints associated with a scenario involving a vehicle in an environment; embedding the plurality of dynamic homotopy constraints in a plurality of spatio-temporal grids, where each spatio-temporal grid includes individual grids for each timestep of a prediction horizon, generating a plurality of trajectories based on the plurality of dynamic homotopy constraints embedded in the plurality of spatio-temporal grids; selecting a particular trajectory from among the plurality of trajectories generated; and controlling the vehicle in the environment based on the particular trajectory selected from among the plurality of trajectories.
ENCODING HOMOTOPY CONSTRAINTS IN SPATIO-TEMPORAL GRIDS
2023-05-25
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 |