| CPC B60W 60/001 (2020.02) [B60W 50/14 (2013.01); G06T 1/20 (2013.01); B60W 2552/10 (2020.02); B60W 2556/45 (2020.02)] | 20 Claims |
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1. A vehicle comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving a route associated with the vehicle, the route including a start state and an end state;
determining, based at least in part on the route, a first road segment from a road network database, wherein the first road segment is associated with a first precomputed lattice graph comprising a first plurality of entry states, a first plurality of exit states, a first kinematically feasible transition between a first entry state of the first plurality of entry states and a first exit state of the first plurality of exit states, and a first cost associated with the first kinematically feasible transition;
determining, based at least in part on the route, a second road segment proximate the first road segment, wherein the second road segment is associated with a second precomputed lattice graph comprising a second plurality of entry states, a second plurality of exit states, a second kinematically feasible transition between a second entry state of the second plurality of entry states and a second exit state of the second plurality of exit states, and a second cost associated with the second kinematically feasible transition, and wherein the second entry state of the second precomputed lattice graph is co-located with the first exit state of the first precomputed lattice graph; and
autonomously controlling the vehicle based at least in part on the first cost and the second cost.
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