Approaches to managing navigation of autonomous vehicles through minor-major intersections are disclosed. A minor-major intersection is detected. Shadow tracks are generated for occlusions associated with the minor-major intersection. A maneuver evaluation is performed based on induced kinematic discomfort and post-encroachment time. Preliminary lateral and longitudinal planning is performed based on shadow tracks, induced kinematic discomfort and post-encroachment time to generate one or more proposed trajectories. Final trajectory generation is performed by refining at least one of the one or more proposed trajectories to generate the final trajectory. The autonomous vehicle performs a selected maneuver corresponding to the final trajectory within the minor-major intersection.
NAVIGATING MINOR-MAJOR INTERSECTIONS WITH AN AUTONOMOUS VEHICLE
2023-10-19
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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