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MOTION PLANNING FOR AUTONOMOUS VEHICLES AND RECONFIGURABLE MOTION PLANNING PROCESSORS
MOTION PLANNING FOR AUTONOMOUS VEHICLES AND RECONFIGURABLE MOTION PLANNING PROCESSORS
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机译:自主车辆的运动计划和可重构运动计划处理器
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摘要
A system for motion planning for autonomous vehicles can include a plurality of sensors, a plurality of detectors in electrical communication with the plurality of sensors, and a motion planning module in electrical communication with the plurality of detectors and a computing system of an autonomous vehicle. The motion planning module stores a planning graph with each node representing, explicitly or implicitly, time and variables defining a state of the autonomous vehicle, an operating environment, or both the state of the autonomous vehicle and the operating environment. A reconfigurable processor can include a collision detection module and, optionally, a shortest path module. Pre-computed collision data and planning graph data reflecting logical/physical node mapping can be communicated to the processor during a programming phase and used during runtime.
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