Fast trajectory planning via maneuver pattern selection
Technical solutions are described for maneuvering a vehicle autonomously is described. An example method includes receiving, by a controller, a command to navigate the vehicle, the command based on a global route calculation. The method further includes ranking, by the controller, maneuver patterns from a list of maneuver patterns to generate a ranked list of maneuver patterns. The method further includes selecting a maneuver pattern from the ranked list, and in response to a comfort score assigned to the selected maneuver pattern being above a predetermined threshold, executing the maneuver pattern.
1. A method for maneuvering a vehicle autonomously, the method comprising:
receiving, by a controller, a command to navigate the vehicle, the command based on a global route calculation;
ranking, by the controller, maneuver patterns from a list of maneuver patterns to generate a ranked list of maneuver patterns;
selecting a maneuver pattern from the ranked list, wherein the selected maneuver pattern is the highest untried maneuver pattern from the ranked list;
in response to a comfort score assigned to the selected maneuver pattern being above a predetermined threshold, executing the maneuver pattern; and
adjusting the predetermined threshold responsive to none of the maneuver patterns from the ranked list meeting the predetermined threshold.
2. The method of claim 1 , wherein a maneuver pattern comprises a plurality of trajectories.
3. The method of claim 2 , wherein selecting the maneuver pattern comprises:
determining the comfort score of a first trajectory from the maneuver pattern based on attribute values assigned to the trajectory and local parameters.
4. The method of claim 3 , wherein the local parameters comprise parameters computed for obstacles in a predetermined vicinity surrounding the vehicle.
5. The method of claim 3 , the selection of the maneuver further comprises performing a local optimization within the plurality of trajectories to identify a trajectory that satisfies the predetermined threshold for the comfort score.
6. The method of claim 1 , wherein the global route calculation is performed based on a source and destination provided to the vehicle for autonomous navigation.
7. A trajectory planning system comprising:
a memory; and
a processor coupled with the memory, the processor configured to determine a trajectory for moving a vehicle autonomously, the determination comprising:
receiving, by a controller, a command to navigate the vehicle, the command based on a global route calculation;
ranking, by the controller, maneuver patterns from a list of maneuver patterns to generate a ranked list of maneuver patterns, wherein the list comprises and end-of-list NULL entry, which is a specific entry at an end of the list to identify the end of the list;
selecting a maneuver pattern from the ranked list, wherein the selected maneuver pattern is the highest untried maneuver pattern from the ranked list; and
in response to a comfort score assigned to the selected maneuver pattern being above a predetermined threshold, executing the maneuver pattern.
8. The system of claim 7 , wherein a maneuver pattern comprises a plurality of trajectories.
9. The system of claim 8 , wherein selecting the maneuver pattern comprises determining the comfort score of a first trajectory from the maneuver pattern based on attribute values assigned to the trajectory and local parameters.
10. The system of claim 9 , wherein the local parameters comprise parameters computed for obstacles in a predetermined vicinity surrounding the vehicle.
11. The system of claim 9 , the selection of the maneuver further comprises performing a local optimization within the plurality of trajectories to identify a trajectory that satisfies the predetermined threshold for the comfort score.
12. The system of claim 7 , wherein the determining further comprises, adjusting the predetermined threshold if none of the maneuver patterns from the ranked list meet the predetermined threshold.
13. A vehicle controller for determining a trajectory for moving a vehicle autonomously, the determination comprising:
receiving, by a controller, a command to navigate the vehicle, the command based on a global route calculation;
ranking, by the controller, maneuver patterns from a list of maneuver patterns to generate a ranked list of maneuver patterns, wherein the list comprises an end-of-list NULL entry, which is a specific entry at an end of the list to identify the end of the list;
selecting a maneuver pattern from the ranked list;
in response to a comfort score assigned to the selected maneuver pattern being above a predetermined threshold, executing the maneuver pattern;
subsequent to executing the maneuver pattern, determining whether the maneuver pattern was successful;
selecting and exrcuting a next highest maneuver pattern from the ranked list until detecting the end-of-list NULL entry; and
responsive to detecting the end-of-list NULL entry, lowering the predetermined threshold.
14. The vehicle controller of claim 13 , wherein a maneuver pattern comprises a plurality of trajectories.
15. The vehicle controller of claim 14 , wherein selecting the maneuver pattern comprises determining the comfort score of a first trajectory from the maneuver pattern based on attribute values assigned to the trajectory and local parameters, wherein the local parameters comprise parameters computed for obstacles in a predetermined vicinity surrounding the vehicle.
16. The vehicle controller of claim 15 , the selection of the maneuver further comprises performing a local optimization within the plurality of trajectories to identify a trajectory that satisfies the predetermined threshold for the comfort score.
17. The vehicle controller of claim 13 , wherein the selected maneuver pattern is the highest untried maneuver pattern from the ranked list.
18. The vehicle controller of claim 13 , wherein the determining further comprises, adjusting the predetermined threshold if none of the maneuver patterns from the ranked list meet the predetermined threshold.