TRAJECTORY PLANNING Russian patent published in 2021 - IPC G01C21/34 G05D1/00 B60W60/00 

FIELD: transport engineering.

SUBSTANCE: invention relates to autonomous vehicles, including methods, devices, systems and non-volatile machine-readable media for tracking objects for autonomous vehicles. The method for driving an autonomous vehicle includes capturing data from multiple types of autonomous vehicle sensors, processing captured data to determine the locations of observed objects that are external to the autonomous vehicle, as well as trajectory planning for the autonomous vehicle. In this case, trajectory planning contains the definition of a rough driving line from the first location to the second location, and the rough driving line includes the first segment of the lane and the second segment of the lane, which differs from the first segment of the lane and which immediately follows the first segment of the lane along the mentioned trajectory, and the rough driving line includes a lateral gap between the first segment of the lane and the second segment of the lane, the definition of a strategic speed plan for the rough driving line. Then, the lateral gap in the rough driving line is eliminated based on the strategic speed plan to generate an adjustable rough driving line by determining the starting position along the first segment of the lane, determining, based on the current speed of the autonomous vehicle, the final position along the second segment of the lane and generating an adjustable rough driving line, and the adjustable rough driving line includes the transition from the starting position to the final position. After that, lateral constraints around an adjustable rough driving line and a discrete-time speed plan based on the observed objects and driving an autonomous vehicle in accordance with the planned trajectory are generated.

EFFECT: increase in road safety of autonomous vehicles in the transport network.

19 cl, 28 dwg, 2 tbl