Bewegungsplanung mit Variabler Rasterauflösung für Grafiksuchbasierte Planung

Details

Veröffentlichungs-Nr.

EP4506221

Aktenzeichen

EP23195699

Anmeldetag

6. September 2023

Veröffentlichung

11. März 2026

Erteilung

11. März 2026

Rechtsraum

EP

IPC

G05D1/00B60W30/00G01C21/00

Abstract

This document describes motion planning with variable grid resolution for graph-search-based planning. An example system includes a processor that obtains an initial pose, a goal pose, and an obstacle map for an environment. The processor uses a motion-planning algorithm to determine a path or trajectory using two or more grid resolutions for a graph-based search. The path includes a series of waypoints, including two-dimensional positional coordinates (and time coordinates if a trajectory), to navigate from the initial pose towards the goal pose. Operation of the host vehicle is then controlled to maneuver along the path using an assisted-driving or autonomous-driving system. In this way, motion planning is performed for the entire path but uses a coarser grid resolution for the portion nearer the goal pose. This allows motion planning for autonomous parking, especially in environments that include static and dynamic objects, to be handled in a more computationally-efficient manner.

Anmelder

Firma

Aptiv Technologies AG

Land

🇨🇭 Schweiz

Fachgebiete