FIELD: autonomous vehicle.
SUBSTANCE: method of avoiding obstacles by an autonomous vehicle (hereinafter – AV) contains steps in which objects are identified, a traffic-accessible area for AV is extracted, and sections of the traffic-accessible area are cut out to obtain the first corrected traffic-accessible area. The cut-out sections correspond to close objects that are classified as static objects. The first object is identified along the rough traffic trajectory in the first adjusted traffic-accessible area for AV. The first object is a close object that is classified as a dynamic object. The predicted route of the first object is taken. Based on the predicted route of the first object, the adjusted traffic-accessible area is determined by adjusting the first adjusted traffic-accessible area based on the predicted route of the first object to obtain the adjusted traffic-accessible area. The AV trajectory is determined through the adjusted traffic-accessible area. The system of avoiding obstacles by an autonomous vehicle contains a trajectory planning unit.
EFFECT: improved security.
20 cl, 18 dwg
