CN-122029399-A - Autonomous navigation of road intersections

Abstract

Methods for autonomously navigating a roadway intersection with a vehicle are provided and may include determining candidate trajectories for an autonomous vehicle to traverse the roadway intersection, identifying one or more additional vehicles in an environment of the autonomous vehicle, determining one or more predicted trajectories for the one or more additional vehicles to traverse the roadway intersection, selecting at least some of the predicted trajectories based on proximity between the candidate trajectories and each of the one or more predicted trajectories, determining a priority order based on the candidate trajectories and the selected trajectories, and traversing the autonomous vehicle through the roadway intersection based on the candidate trajectories and the priority order.

Inventors

• LIN SHUKAI
• H.L.WANG
• E. HERBST

Assignees

• 动态AD有限责任公司

Dates

Publication Date

20260512

Application Date

20240815

Priority Date

20230816

Claims (14)

1. 1. A computer-implemented method, comprising: determining, using at least one processor, candidate trajectories for the autonomous vehicles to traverse the roadway intersection; Identifying, using the at least one processor, one or more additional vehicles in the environment of the autonomous vehicle; determining, using the at least one processor, one or more predicted trajectories of the one or more additional vehicles through the intersection; Selecting, using the at least one processor, at least some of the predicted trajectories based on a proximity between the candidate trajectory and each of the one or more predicted trajectories; Determining, using the at least one processor, a priority order based on the candidate trajectory and the selected trajectory, and The autonomous vehicle is traversed through the roadway intersection based on the candidate trajectory and the priority order, using the at least one processor.
2. 2. The method of claim 1, wherein traversing the autonomous vehicle through the roadway intersection comprises actuating one or more physical controls of the autonomous vehicle.
3. 3. The method of claim 1, wherein traversing the autonomous vehicle through the roadway intersection comprises: determining stop sites for the autonomous vehicles based on the priority order, and Based on determining the stop station, operating the autonomous vehicle, Wherein the stop site represents a location for the autonomous vehicle to stop before entering the intersection.
4. 4. A method according to claim 3, wherein determining the stop site comprises: Determining a crossing portion between the candidate track and a subset of the selected tracks, wherein the subset of the selected tracks takes precedence over the candidate track, and A region along the candidate track before an intersection between the candidate track and the selected subset of tracks is determined as the stop site.
5. 5. The method of claim 1, wherein selecting at least some of the predicted trajectories comprises: a region corresponding to the candidate trajectory is determined, Identifying each of the one or more predicted trajectories within a threshold distance from the region, an Each of the one or more predicted trajectories within the threshold distance from the region is selected.
6. 6. The method of claim 5, wherein determining the zone comprises determining a lateral dimension of the zone, wherein the lateral dimension of the zone is greater than the lateral dimension of the autonomous vehicle.
7. 7. The method of claim 1, wherein selecting at least some of the predicted trajectories comprises: Determining the orientation of the autonomous vehicle, and At least some of the predicted trajectories are selected based on the orientation of the autonomous vehicle.
8. 8. The method of claim 1, wherein determining the priority order comprises: For each of the selected tracks, determining a road lane of the selected track, and determining the priority order based on the road lanes of the selected track.
9. 9. The method of claim 8, wherein, for each of the selected trajectories, the road lane of the selected trajectory is determined based on at least one of: the orientation of the additional vehicle corresponding to the selected trajectory, and The direction of travel of the additional vehicle.
10. 10. The method of claim 8, wherein determining the priority order comprises: For each of the selected tracks, determining a traffic direction of a road lane of the selected track, and determining the priority order based on the traffic direction of the road lane of the selected track.
11. 11. The method of claim 1, wherein determining the priority order comprises determining the priority order based on one or more traffic rules.
12. 12. The method of claim 1, further comprising: Updating at least some of the one or more predicted trajectories of the one or more additional vehicles, and Based on updating at least some of the one or more predicted trajectories of the one or more additional vehicles, at least some of the one or more predicted trajectories of the one or more additional vehicles are removed.
13. 13. A system, comprising: at least one processor, and At least one non-transitory storage medium storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the method of any one of claims 1 to 12.
14. 14. At least one non-transitory storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform the method of any one of claims 1 to 12.

Description

Autonomous navigation of road intersections Cross Reference to Related Applications The application claims the benefit of U.S. provisional application No. 63/533,117 filed 8/16 at 2023, the disclosure of which is incorporated herein by reference in its entirety. Background Typically, autonomous vehicles acquire sensor data to determine characteristics of the environment and control vehicle operation. As an example, an autonomous vehicle obtains sensor data to determine the location of an obstacle in the environment and navigate around the obstacle. Drawings FIG. 1 is an example environment in which a vehicle including one or more components of an autonomous system may be implemented; FIG. 2 is a diagram of one or more systems of a vehicle including an autonomous system; FIG. 3 is a diagram of components of one or more devices and/or one or more systems of FIGS. 1 and 2; FIG. 4 is a diagram of certain components of an autonomous system; FIG. 5A is a diagram of an example process for autonomously navigating a roadway intersection; Fig. 5B-5D are diagrams of example aspects of a process for autonomously navigating a road intersection; FIG. 6A is a diagram of an implementation of a neural network; fig. 6B and 6C are diagrams illustrating an example operation of the CNN; fig. 7 is a flowchart of a process for autonomously navigating a road intersection. Detailed Description In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. It will be apparent, however, that the embodiments described in this disclosure may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure. In the drawings, for ease of description, specific arrangements or sequences of illustrative elements (such as those representing systems, devices, modules, blocks of instructions, and/or data elements, etc.) are illustrated. However, those of skill in the art will understand that a specific order or arrangement of elements illustrated in the drawings is not intended to require a specific order or sequence of processes, or separation of processes, unless explicitly described. Furthermore, the inclusion of a schematic element in a figure is not intended to mean that such element is required in all embodiments nor that the feature represented by such element is not included in or combined with other elements in some embodiments unless explicitly described. Furthermore, in the drawings, connecting elements (such as solid or dashed lines or arrows, etc.) are used to illustrate a connection, relationship or association between or among two or more other schematic elements, the absence of any such connecting element is not intended to mean that no connection, relationship or association exists. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the present disclosure. In addition, for ease of illustration, a single connection element may be used to represent multiple connections, relationships, or associations between elements. For example, if a connection element represents a communication of signals, data, or instructions (e.g., "software instructions"), those skilled in the art will understand that such element may represent one or more signal paths (e.g., buses) that may be required to effect the communication. Although the terms "first," "second," and/or "third," etc. may be used to describe various elements, these elements should not be limited by these terms. The terms "first," second, "and/or third" are used merely to distinguish one element from another element. For example, a first contact may be referred to as a second contact, and similarly, a second contact may be referred to as a first contact, without departing from the scope of the described embodiments. Both the first contact and the second contact are contacts, but they are not the same contacts. The terminology used in the description of the various embodiments described herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the specification of the various embodiments described and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, and may be used interchangeably with "one or more than one" or "at least one," unless the context clearly indicates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," "including" and/or "having," when used in this specification, specify the presence of stated features, integers, steps,