In various examples, sensor data representative of a field of view of at least one sensor of a vehicle in an environment is received from the at least one sensor. Based at least in part on the sensordata, parameters of an object located in the environment are determined. Trajectories of the object are modeled toward target positions based at least in part on the parameters of the object. From thetrajectories, safe time intervals (and/or safe arrival times) over which the vehicle occupying the plurality of target positions would not result in a collision with the object are computed. Based atleast in part on the safe time intervals (and/or safe arrival times) and a position of the vehicle in the environment a trajectory for the vehicle may be generated and/or analyzed.
在各种示例中,从至少一个传感器接收表示环境中的车辆的至少一个传感器的视场的传感器数据。至少部分地基于传感器数据,确定位于环境中的对象的参数。至少部分地基于对象的参数将对象的轨迹建模到目标位置。根据轨迹,计算车辆占据多个目标位置不会导致与对象碰撞的安全时间间隔(和/或安全到达时间)。至少部分地基于安全时间间隔(和/或安全到达时间)以及环境中的车辆的位置,可以生成和/或分析车辆的轨迹。
Controlling autonomous vehicles using safe arrival times
使用安全到达时间控制自动驾驶车辆
2020-05-08
Patent
Electronic Resource
Chinese
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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