A prediction-based system and method for trajectory planning for autonomous vehicles is disclosed. Embodiments are configured to: receive training data and ground truth data from a training data collection system, the training data including perception data and context data corresponding to human driving behavior; performing a training phase to train the trajectory prediction module using the training data; receiving perceived data associated with the host vehicle; and performing an operation phase configured to extract host vehicle feature data and adjacent vehicle context data from the perceptual data, generate a suggested trajectory for the host vehicle, generating, using a trained trajectory prediction module, a predicted trajectory for each of one or more neighboring vehicles in the vicinity of the host vehicle based on the suggested host vehicle trajectory, determining whether the suggested trajectory for the host vehicle will collide with any of the predicted trajectories of the neighboring vehicles, and modifying the suggested trajectory for the host vehicle until the collision is eliminated.
公开了用于自主车辆的轨迹规划的基于预测的系统和方法。具体实施例被配置为:从训练数据收集系统接收训练数据和地面真值数据,所述训练数据包括与人类驾驶行为相对应的感知数据和上下文数据;执行训练阶段以使用训练数据来训练轨迹预测模块;接收与主车辆相关联的感知数据;以及执行操作阶段,所述操作阶段被配置为从感知数据中提取主车辆特征数据和邻近车辆上下文数据,生成针对主车辆的建议轨迹,使用训练的轨迹预测模块基于建议的主车辆轨迹来生成针对主车辆附近的一个或多个邻近车辆中的每一个的预测轨迹,确定针对主车辆的建议轨迹是否将与邻近车辆的预测轨迹中的任何一个冲突,以及修改针对主车辆的建议轨迹直到冲突消除。
Prediction-based system and method for trajectory planning for autonomous vehicles
用于自主车辆的轨迹规划的基于预测的系统和方法
2023-01-17
Patent
Electronic Resource
Chinese
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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