ROBUST TRAJECTORY PLANNING USING DATA-DRIVEN REACHABILITY CORRIDORS
A vehicle trajectory planning system includes a perception system of a host vehicle collecting information from multiple sources and communicating with a computer. A fusion module fuses scene information from a map and perception items identified by the perception system. A behavior planning module...
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Main Authors | , |
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Format | Patent |
Language | English |
Published |
13.06.2024
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Subjects | |
Online Access | Get full text |
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Summary: | A vehicle trajectory planning system includes a perception system of a host vehicle collecting information from multiple sources and communicating with a computer. A fusion module fuses scene information from a map and perception items identified by the perception system. A behavior planning module receives an output of the fusion module and produces a host vehicle baseline trajectory. A trajectory and motion planning module receives an output of the fusion module in parallel with the behavior planning module. The trajectory and motion planning module determines a reference trajectory and operation corridor for a host vehicle. A disturbance and reachability refiner module receives an output of the trajectory and motion planning module including the reference trajectory and operation corridor. An algorithm is applied to adjust and re-plan the host vehicle baseline trajectory to be robust to a range of inclement weather conditions. |
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Bibliography: | Application Number: US202218063354 |