Verfahren, Vorrichtung und Computerlesbares Medium zur Trajektorienauswahl in der Autonomen Navigation

Details

Veröffentlichungs-Nr.

EP4738305

Anmeldetag

29. November 2024

Veröffentlichung

6. Mai 2026

Rechtsraum

EP

IPC

G08G1/00

Abstract

Embodiments of the present disclosure relate to methods for autonomous navigation. A computer program, a computer-readable data carrier and an apparatus are also disclosed. The method for autonomous navigation comprising: obtaining, from a multimodal predictor, one or more candidate trajectories for traffic participants; obtaining, using reachability analysis, respective candidate navigation corridors for each candidate trajectory; obtaining, for each candidate trajectory, a cumulated area of each of the respective candidate navigation corridors; classifying, for each candidate trajectory, a candidate navigation corridor having a greatest cumulated area as relevant corridor, thereby obtaining a class of relevant corridors; obtaining an overlap score between each pair of the relevant corridors in the class of relevant corridors; determining that at least one obtained overlap score, corresponding to at least one pair of the relevant corridors, exceeds a predetermined threshold; replacing, in the class of relevant corridors, each pair of the at least one pair of the relevant corridors with an intersection of said each pair, thereby obtaining an updated class of relevant corridors; and using, by a branch model predictive control, BMPC, the updated class of relevant corridors for generating a predicted trajectory and control commands to an autonomous system.

Anmelder

Firma

AUMOVIO Germany GmbH

Land

🇩🇪 Deutschland