| CPC B60W 60/0011 (2020.02) [G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0238 (2013.01); B60W 2554/4045 (2020.02)] | 20 Claims |
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1. A trajectory planning system for selecting a trajectory from a plurality of candidate trajectories to direct an autonomous vehicle, the trajectory planning system comprising:
a global positioning system (GPS) for receiving a plurality of global scene information, wherein the plurality of global scene information includes a location of a roadway, and a location of each of a plurality of obstacles along the roadway;
at least one sensor disposed on the autonomous vehicle and configured to collect information related to a plurality of local scene information, wherein the plurality of local scene information includes at least one occluding obstacle and a plurality of scene actors; and
a controller in electrical communication with the at least one sensor and the GPS, wherein the controller is programmed to:
receive the plurality of global scene information from the GPS and the plurality of local scene information from the at least one sensor;
identify the location of the at least one occluding obstacle based on the plurality of local scene information received from the at least one sensor, wherein the at least one occluding obstacle has a plurality of parameters;
determine an occluded portion of the roadway based on the parameters of the at least one occluding obstacle;
identify a location of each of the plurality of scene actors on the roadway, wherein a first of the plurality of the scene actors is a leading scene actor and a second of the plurality of scene actors is a lagging scene actor;
determine a first travel distance of the leading scene actor, wherein the first travel distance is measured from the location of the leading scene actor into the occluded portion;
determine a second travel distance for the lagging scene actor, wherein the second travel distance is measured from the location of the lagging scene actor into the occluded portion;
calculate a contracted occluded portion disposed within the occluded portion based on the first and second travel distances corresponding to the leading and lagging scene actors; and
generate the plurality of candidate trajectories for the autonomous vehicle to travel on the roadway based on the global and local scene information and the location of the contracted occluded portion on the roadway.
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