METHOD AND SYSTEM FOR DYNAMICALLY DETERMINING AND SEAMLESSLY SWITCHING TRAJECTORY PLANNER FOR AUTONOMOUS GROUND VEHICLES

摘要

This disclosure relates to method and system for dynamically determining and seamlessly switching trajectory planner (TP) for an Autonomous Ground Vehicle (AGV). The method includes determining a derived mission at a current position of the AGV along a global path based on static environment data from a navigation map and dynamic environment data acquired by the AGV. Further, the method includes identifying one or more potential TPs from a plurality of TPs based on the derived mission. Further, the method includes calculating a weighted suitability score for each of the one or more potential TPs based on a set of TP evaluation parameters. Further, the method includes determining a new TP from the one or more potential TPs to achieve the derived mission based on the weighted suitability score for each of the one or more potential TPs and a simulated evaluation of the new TP.