CPC G05D 1/0214 (2013.01) [B60W 60/001 (2020.02); B60W 2552/10 (2020.02); G05D 2201/0213 (2013.01)] | 14 Claims |
13. A system to determine a drivable space trajectory of an ego vehicle, the system comprising:
a vehicle trajectory aggregation module to determine a set of vehicle trajectories corresponding to a same semantic driving maneuver during motion planning of the ego vehicle;
a drivable trajectory identification module to divide points representing the set of vehicle trajectories into separate point sets according to a semantic structure of the same semantic driving maneuver, to select a point set corresponding to the lane segment, to project points of a selected point set corresponding to the lane segment on a roadway lane, to define a longitudinal reference system attached to the roadway lane, to compute, for each point of the selected point set, a curvilinear abscissa of a projection of the points of the selected point set to form the lane segment, aggregate the points of each separate point set of the set of trajectories to compute a lane segment for each point set by repeating the projecting and computing for each point set, and to compute a union of each of the lane segments to obtain the drivable space trajectory and a related motion plan of the ego vehicle; and
a vehicle control selection module to perform a vehicle control action to maneuver the ego vehicle along the drivable space trajectory.
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