Planning, or path finding is one of many tasks performed by an autonomous vehicle (AV). Planning involves searching for and updating an optimal plan from a current pose to an end pose while avoiding obstacles. Planning can be particularly challenging in driving scenarios involving complex driving maneuvers, such as parking, making a U-turn, making a K-turn, etc. Searching for an optimal plan may take more time, e.g., a few seconds, in certain driving scenarios. Consumers of the plan may have a low tolerance for delay in receiving the optimal plan. A relay can be implemented to publish the latest plan to the consumers at a frequency. The relay can check whether the delay violates a dynamic threshold and raise an error accordingly. The searching process can be improved to reduce the delay in finding an optimal plan.
AUTONOMOUS VEHICLE WITH FREESPACE PLANNER
2025-04-10
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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