JP2021526474A - 軌道計画 - Google Patents
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Abstract
Description
Claims (20)
- 自律走行車(AV)による物体回避のための方法であって、
前記AVの走行可能領域の粗走行線に沿って第1の物体を検出するステップと、
前記第1の物体の予測経路を受信するステップと、
前記第1の物体の前記予測経路に基づいて、調整された走行可能領域を決定するステップと、
前記調整された走行可能領域を通る前記AVの軌道を決定するステップと
を含む、方法。 - 前記第1の物体の前記予測経路に基づいて、前記調整された走行可能領域を決定するステップは、
前記粗走行線の少なくとも一部を複数のビンに分割すること、
前記複数のビンの中の1つのビンに前記第1の物体を割り当てること、及び
前記1つのビンに基づいて前記調整された走行可能領域を決定すること
を含む、請求項1に記載の方法。 - 前記第1の物体の前記予測経路に基づいて、前記調整された走行可能領域を決定するステップは、
離散時間間隔で前記第1の物体の各物体位置を決定すること、
前記離散時間間隔で前記AVの各AV位置を決定すること、及び
前記各物体位置と前記各AV位置とに基づいて前記調整された走行可能領域を決定すること
を含む、請求項1に記載の方法。 - 前記第1の物体は、対向する縦方向制約であると決定され、
前記調整された走行可能領域を通る前記AVの軌道を決定するステップは、
前記第1の物体の物体位置が前記AVのAV位置と一致する第1の時間に続く第2の時間まで前記AVを停止すること
を含む、請求項3に記載の方法。 - 前記第1の物体は、縦方向制約であると決定され、
前記調整された走行可能領域を通る前記AVの軌道を決定するステップは、
前記第1の物体の後方を走行するように前記AVを減速させること
を含む、請求項3に記載の方法。 - 前記第1の物体を、横方向制約、縦方向制約、対向する横方向制約、又は対向する縦方向制約として分類するステップ
をさらに含む、請求項2に記載の方法。 - 前記調整された走行可能領域を通る前記AVの軌道を決定するステップは、
前記第1の物体が静的閉塞であることを決定すること、及び
前記AVを停止させること
を含む、請求項1に記載の方法。 - 第2の物体を検出するステップ
をさらに含み、
前記調整された走行可能領域を通る前記AVの軌道を決定するステップは、
前記第1の物体が第1の側を通過可能であることを決定すること、
前記第2の物体が前記第1の側及び第2の側を通過可能であることを決定すること、及び
前記第1の側において前記第1の物体を通過し、かつ前記第1の側において前記第2の物体を通過するように前記AVを制御すること
を含む、請求項1に記載の方法。 - 自律走行車(AV)による物体回避のためのシステムであって、
前記AVの走行可能領域の粗走行線に沿って第1の物体を検出すること、
前記第1の物体の予測経路を受信すること、
前記第1の物体の前記予測経路に基づいて、調整された走行可能領域を決定すること、及び
前記調整された走行可能領域を通る前記AVの軌道を決定すること
を行うように構成される軌道プランナを備える、システム。 - 前記第1の物体の前記予測経路に基づいて、前記調整された走行可能領域を決定することは、
前記粗走行線の少なくとも一部を複数のビンに分割すること、
前記複数のビンの中の1つのビンに前記第1の物体を割り当てること、及び
前記1つのビンに基づいて前記調整された走行可能領域を決定すること
を含む、請求項9に記載のシステム。 - 前記第1の物体の前記予測経路に基づいて、前記調整された走行可能領域を決定することは、
離散時間間隔で前記第1の物体の各物体位置を決定すること、
前記離散時間間隔で前記AVの各AV位置を決定すること、及び
前記各物体位置と前記各AV位置とに基づいて前記調整された走行可能領域を決定すること
を含む、請求項10に記載のシステム。 - 前記第1の物体は、対向する縦方向制約であると決定され、
前記調整された走行可能領域を通る前記AVの軌道を決定することは、
前記第1の物体の物体位置が前記AVのAV位置と一致する第1の時間に続く第2の時間まで前記AVを停止すること
を含む、請求項11に記載のシステム。 - 請求項11に記載のシステム。
前記第1の物体は、縦方向制約であると決定され、
前記調整された走行可能領域を通る前記AVの軌道を決定することは、〜を含む、
前記第1の物体の後方を走行するように前記AVを減速させること - 前記軌道プランナは、
前記第1の物体を、横方向制約、縦方向制約、対向する横方向制約、又は対向する縦方向制約として分類すること
を行うようにさらに構成される、請求項10に記載のシステム。 - 前記調整された走行可能領域を通る前記AVの軌道を決定することは、
前記第1の物体が静的閉塞であることを決定すること、及び
前記AVを停止させること
を含む、請求項9に記載のシステム。 - 前記軌道プランナは、第2の物体を検出するようにさらに構成され、
前記調整された走行可能領域を通る前記AVの軌道を決定することは、
前記第1の物体が第1の側を通過可能であることを決定すること、
前記第2の物体が前記第1の側及び第2の側を通過可能であることを決定すること、及び
前記第1の側において前記第1の物体を通過し、かつ前記第1の側において前記第2の物体を通過するように前記AVを制御すること
を含む、請求項9に記載のシステム。 - 自律走行車(AV)による物体回避のための方法であって、
前記AVの走行可能領域の粗走行線に沿って第1の物体を検出するステップと、
調整された走行可能領域を決定するステップであって、前記粗走行線の少なくとも一部を複数のビンに分割すること、前記複数のビンの中の1つのビンに前記第1の物体を割り当てること、及び前記1つのビンに基づいて前記調整された走行可能領域を決定することを行うステップと、
前記調整された走行可能領域を通る前記AVの軌道を決定するステップと
を含む、方法。 - 前記調整された走行可能領域を通る前記AVの軌道を決定するステップは、
前記1つのビンの境界によって定義されるギャップは、前記AVが前記ギャップを通り抜け得るものであるかどうかを決定すること
を含む、請求項17に記載の方法。 - 前記AVが前記ギャップを通り抜けられない場合、
前記1つのビンに静的閉塞を設定するステップと、
前記1つのビンの前で前記AVを停止させるステップと
をさらに含む、請求項18に記載の方法。 - 前記粗走行線に沿って第2の物体の検出するステップと、
前記第2の物体を対向する縦方向制約として分類するステップと、
第1の時間に続く第2の時間まで前記AVを停止させるステップであって、前記AVの第1の位置と前記第2の物体の第2の位置とが前記第1の時間で一致するステップと
をさらに含む、請求項17に記載の方法。
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