TRAJECTORY GENERATION UTILIZING DIVERSE TRAJECTORIES

Provided are methods for trajectory generation based on a hierarchical plurality of rules using diverse trajectories, which can include generating a first set of trajectories for a vehicle from a first pose, identifying a first trajectory and a second trajectory from the first set of trajectories, g...

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Bibliographische Detailangaben
Hauptverfasser: Belta, Calin, Yaghoubi, Shakiba, Mehdipour, Noushin, Tebbens, Radboud Duintjer, Collin, Anne
Format: Patent
Sprache:eng
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Zusammenfassung:Provided are methods for trajectory generation based on a hierarchical plurality of rules using diverse trajectories, which can include generating a first set of trajectories for a vehicle from a first pose, identifying a first trajectory and a second trajectory from the first set of trajectories, generating a second set of trajectories for the vehicle from a second pose and a third set of trajectories for the vehicle from a third pose, identifying a third trajectory based at least in part on the second set of trajectories and the third set of trajectories, the third trajectory violating a first behavioral rule associated with a first priority that is less than a priority of behavioral rules violated by other trajectories, and determining a path for the vehicle based at least in part on the third trajectory. Systems and computer program products are also provided.