A vehicle computing system may implement techniques to control a vehicle to avoid collisions between the vehicle and agents (e.g., dynamic objects) in an environment. The techniques may include generating a representation of a path of the vehicle through an environment as a polygon. The vehicle computing system may compare the two-dimensional path with a trajectory of an agent determined using sensor data to determine a collision zone between the vehicle and the agent. The vehicle computing system may determine a risk of collision based on predicted velocities and probable accelerations of the vehicle and the agent approaching and traveling through the collision zone. Based at least in part on the risk of collision, the vehicle computing system may cause the vehicle to perform an action.
车辆计算系统可执行用于对车辆进行控制的技术,借以防止车辆与环境中的行为主体(例如,动态物体)之间碰撞。这些技术可包括:产生多边形,该多边形代表车辆通过环境的路径。车辆计算系统可以对二维路径和使用传感器数据确定的行为主体轨迹进行比较,借以确定车辆与行为主体之间的碰撞区间。车辆计算系统可基于接近并行驶通过碰撞区间的车辆及行为主体的预测速度及可能加速度,确定碰撞风险。至少部分地基于碰撞风险,车辆计算系统可使车辆执行动作。
COLLISION PREDICTION AND AVOIDANCE FOR VEHICLES
用于车辆的碰撞预测和规避
2021-04-30
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / 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 |