-
公开(公告)号：US20230391350A1
公开(公告)日：2023-12-07
申请号：US17805077
申请日：2022-06-02
IPC分类号： B60W50/04 , B60W50/038 , B60W60/00
CPC分类号： B60W50/045 , B60W50/038 , B60W60/001 , B60W2050/0008
摘要： Disclosed herein are systems, methods, and computer program products for vehicle path planning. The methods comprise: estimating a current state of a vehicle based on sensor data; generating a control error representing a difference between the estimated current state of the vehicle and a desired state of the vehicle as described by a previously published trajectory; comparing the control error to a threshold value; generating a first plan for the vehicle using an open-loop path planning approach when the control error is below the threshold value or a second plan for the vehicle using a closed-loop path planning approach when the control error is above the threshold value; and causing the vehicle to execute the first or second plan.
-
公开(公告)号：US11975742B2
公开(公告)日：2024-05-07
申请号：US17329279
申请日：2021-05-25
发明人： Scott Julian Varnhagen , Colen McAlister , Timothy Andrew Potts, Jr. , David Breeden , Pragati Satpute , Alice Kassar
CPC分类号： B60W60/00274 , B60W60/00272 , G07C5/085 , B60W2420/403 , B60W2420/408
摘要： Methods of refining a planned trajectory of an autonomous vehicle are disclose. For multiple cycles as the vehicle moves along the trajectory, the vehicle will perceive nearby objects. The vehicle will use the perceived object data to calculate a set of candidate updated trajectories. The motion planning system will measure a discrepancy between each candidate updated trajectory and the current trajectory by: (i) determining waypoints along each trajectory; (ii) determining distances between at least some of the waypoints; and (iii) using the distances to measure the discrepancy between the updated trajectory and the current trajectory. The system will use the discrepancy to select, from the set of candidate updated trajectories, a final updated trajectory for the vehicle to follow.
-
搜索结果
2 条记录 (耗时 0.013 秒)
