CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 40/02 (2013.01); B60W 60/0013 (2020.02); B60W 60/0016 (2020.02); B60W 2552/53 (2020.02)] | 20 Claims |
1. A method comprising:
generating, by at least one processor of a vehicle, a plurality of trajectories for the vehicle based on a road segment traveled by the vehicle;
receiving, by the at least one processor, sensor data from at least one sensor of the vehicle, the vehicle traveling the road segment in accordance with a first trajectory of the plurality of trajectories;
predicting, by the at least one processor, a potential collision between the vehicle and an object moving on the road segment based on the sensor data and the first trajectory;
determining, by the at least one processor, a set of constraints for the vehicle to avoid the potential collision, the set of constraints determined based on the sensor data;
determining, by the at least one processor, a maneuver for the vehicle by superimposing each constraint of the set of constraints on each other constraint of the set of constraints, the maneuver comprising a second trajectory independent of the plurality of trajectories; and
transmitting, by the at least one processor, instructions to a control circuit of the vehicle to:
override the first trajectory; and
traverse the road segment according to the second trajectory to perform the maneuver.
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