CPC B60W 30/18159 (2020.02) [B60W 60/0027 (2020.02); B60W 2552/05 (2020.02); B60W 2555/60 (2020.02)] | 20 Claims |
8. An autonomous vehicle comprising:
one or more sensor systems to detect characteristics of an operating environment;
a kinematic control system to provide kinematic controls to the autonomous vehicle;
a vehicle control system coupled with the one or more sensor systems and with the kinematic control system, the vehicle control system to:
detect a minor-major intersection in which a first set of lanes, that are controlled by a traffic control mechanism, intersect with a second set of lanes that do not have a traffic control mechanism and an autonomous vehicle is located within the first set of lanes;
select, in response to detecting a minor major intersection, a set of commit regions in the second set of lanes, wherein the set of commit regions are separate regions in the second set of lanes that the autonomous vehicle will not enter unless the corresponding region is clear;
generate shadow tracks for occlusions associated with the minor-major intersection in the set of commit regions;
perform maneuver evaluation based on one or more of induced kinematic discomfort and post-encroachment time;
perform preliminary lateral and longitudinal planning based on the shadow tracks, the induced kinematic discomfort and the post-encroachment time to generate one or more proposed trajectories; and
cause the autonomous vehicle to perform a selected maneuver within the minor major intersection corresponding to the one or more proposed trajectories.
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