Provided is a technique for generating a driving trajectory for a vehicle while the vehicle is disturbed by an object such as another vehicle, a bicycle, a pedestrian, or the like (e.g., in case a sensor of the vehicle detects an object that makes the vehicle immobile), and executing the driving trajectory when the vehicle becomes unobstructed. Moreover, provided is a technique for updating a part of the traveling trajectory of the vehicle based on a determination that an object will traverse a segment of a current driving trajectory later without recalculating the entire trajectory.
차량이 물체(예컨대, 또 다른 차량, 자전거, 또는 보행자)에 의해 방해받는 동안에(예컨대, 차량의 센서가 차량이 움직일 수 없는 결과를 초래한 물체를 검출한 경우에) 차량에 대한 주행 궤적을 생성하고, 차량이 방해받지 않게 될 때에 주행 궤적을 실행하는 기술이 제공된다. 또한, 전체 궤적을 재계산하지 않고서, 물체가 현재 주행 궤적의 세그먼트를 추후에 횡단할 것이라는 결정에 기초하여 차량의 주행 궤적의 일부를 업데이팅하는 기술이 제공된다.
SYSTEMS AND METHODS FOR PLANNING AND UPDATING A VEHICLE'S TRAJECTORY
차량의 궤적을 계획 및 업데이트하기 위한 시스템 및 방법
2020-11-17
Patent
Electronic Resource
Korean
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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