System and method FOR AUTONOMOUS VEHICLES, and storage medium

• Main Authors: ANDERSEN HANS, BATTS ZACHARY, LIU XIYUAN, FLOOR BOAZ CORNELIS, MILLER JESSE ADAM, KABZAN JURAJ, WANG QIAN, LIN LIXUN, HEIM MARC DOMINIK, WU NING, ZHAO YIMING
• Format: Patent
• Language: Chinese; English
• Published: 07.09.2021
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to a system and method for autonomous vehicles, and a storage medium. The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands. 本发明涉及用于自主运载工具的系统、方法和存储介质。在本说明书中描述的主题通常涉及用于自主运载工具的控制架构。在一个示例中，使用控制电路来接收参考轨迹、横向约束集和速率约束集。控制电路至少部分地基于参考轨迹和横向约束集来确定转向指令集，并且至少部分地基于速率约束集来确定速率指令集。使用控制电路，根据转向指令集和速率指令集对运载工具进行导航。