| CPC G01C 21/3461 (2013.01) [B60W 30/18163 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); B60W 2554/00 (2020.02); B60W 2555/60 (2020.02); G05D 2201/0213 (2013.01)] | 20 Claims |
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3. A system comprising:
an autonomous vehicle comprising one or more sensors;
a processor; and
a non-transitory computer readable medium comprising one or more programming instructions that when executed by the processor, will cause the processor to:
determine, for the autonomous vehicle while traversing a route to a destination location, a local region that surrounds the autonomous vehicle;
receive real-time information corresponding to the local region;
perform topological planning to identify one or more topologically distinct classes of trajectories, wherein each of the one or more topologically distinct classes is associated with a plurality of trajectories that take the same combination of discrete actions with respect to objects in the local region;
compute a constraint set for each of the one or more topologically distinct classes of trajectories, the constraint set for a topologically distinct class defining a bounded area in curvilinear space that confines the plurality of trajectories associated with that topologically distinct class;
for each constraint set, generate a candidate trajectory; and
select, from amongst one or more candidate trajectories, a trajectory for the autonomous vehicle to traverse the local region
assigning a score to each of the one or more candidate trajectories, and
selecting a candidate trajectory that has a best score as the trajectory for the autonomous vehicle to traverse the local region.
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