| CPC B60W 60/001 (2020.02) [B60W 30/09 (2013.01); B60W 40/02 (2013.01); B60W 2420/00 (2013.01); B60W 2554/00 (2020.02); B60W 2556/25 (2020.02)] | 26 Claims |
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1. A method of path planning by a planner of an autonomous vehicle, comprising: receiving by the planner perception data from a perception module, wherein the perception module is configured to:
generate high precision detection data based on data received from a set of sensors, wherein the received data represents objects or obstacles in an environment of the autonomous vehicle;
identify from the high precision detection data a first set of objects or obstacles that are classifiable by at least one known classifier;
track movement of one or more objects in the first set of objects or obstacles over time and maintain identity of the tracked one or more objects in the first set of objects or obstacles;
generate high recall detection data based on the received data;
identify from the high recall detection data a second set of objects or obstacles without using any classifier; and
filter out objects, from the second set of objects or obstacles, that correspond to the tracked one or more objects in the first set of objects or obstacles to obtain a filtered set of objects or obstacles,
wherein the perception data comprises tracking or predicted object data associated with objects or obstacles in the environment of the autonomous vehicle, and wherein the tracking or predicted object data are determined based on high recall detection data and high precision detection data;
generating by the planner a trajectory for controlling the autonomous vehicle based on the perception data received from the perception module; and
transmitting to a controller of the autonomous vehicle the trajectory such that the autonomous vehicle is navigated by the controller to a destination.
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