Systems and methods for controlling the passage of autonomous vehicles through an intersection are disclosed. The method includes determining a loitering attitude in which the autonomous vehicle is stopped at a point within the intersection before starting an unprotected turn to pass through the intersection. One or more different categories of trajectories are then identified, each category being associated with a plurality of trajectories that employ the same combination of discrete actions relative to the loitering pose. A constraint set for each of the one or more different categories of trajectories is then calculated based on the loitering attitude, and candidate trajectories are determined for each of the one or more different categories based on the respective constraint set. A trajectory for the autonomous vehicle to perform an unprotected turn to pass through the intersection is selected from the candidate trajectories.
本发明公开了用于控制自主车辆通行穿过交叉路口的系统和方法。方法包括确定自主车辆在开始不受保护的转弯以穿过交叉路口之前在交叉路口内某点停车的徘徊姿态。然后识别一个或多个不同类别的轨迹,每个类别与相对于徘徊姿态采用相同的离散动作组合的多个轨迹相关联。然后基于徘徊姿态计算一个或多个不同类别的轨迹中的每个类别的轨迹的约束集,并且基于相应的约束集为一个或多个不同类别中的每个类别确定候选轨迹。从候选轨迹中选择自主车辆执行不受保护的转弯以穿过交叉路口的轨迹。
Method and system for generating trajectory for autonomous vehicle to pass through intersection
生成自主车辆穿行交叉路口的轨迹的方法和系统
2023-12-19
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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