09-06-2022 дата публикации
Номер: US20220177001A1
A method of path planning for a host vehicle includes: receiving host vehicle, environmental and obstacle information; calculating one or more projected host vehicle locations; computing a projected obstacle location for each obstacle; and determining a collision potential between each projected host vehicle location and each projected obstacle location. Until a maximum number of steps is reached, and while at least one projected host vehicle location has an associated collision potential below a collision threshold, the method further includes repeating the calculating, computing and determining steps. 1. A method of path planning for a host vehicle , comprising:{'sub': HV', 'HV', 'HV', 'VO', 'VO', 'VO, 'receiving a host vehicle heading H, a host vehicle speed S, a host vehicle location L, environmental information E, and a respective obstacle heading H, obstacle speed Sand obstacle location Lfor each obstacle within a predetermined radius about the host vehicle;'}{'sub': i', 'i', 'k1', 'HV', 'HV', 'DEV', 'HV', 'DEV', 'H', 'k1', 'i', 'DEV', 'DEV', 'HV', 'HV', 'H, 'calculating one or more projected host vehicle locations Lusing L=f(i, L, H, H, S, S, T, E, G), where fis a first kinematic function for generating the one or more projected host vehicle locations L, i is a step number, Hand Sare allowable deviations for the host vehicle heading Hand the host vehicle speed S, respectively, Tis a hypothesis time step, and G is a goal;'}{'sub': i', 'i', 'k2', 'VO', 'VO', 'VO', 'H', 'k2', 'i, 'computing a respective projected obstacle location Ofor each obstacle using O=f(i, L, H, S, T, E), where fis a second kinematic function for generating the respective projected obstacle location Ofor each obstacle;'}{'sub': i', 'i', 'i, 'determining a respective collision potential between each projected host vehicle location Land each projected obstacle location O, wherein each collision potential is associated with a respective projected host vehicle location L; and'}{'sub': max', 'i ...
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