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Systems and methods for trajectory planning in an autonomous vehicle using different fixed durations for steering and speed parameters
Systems and methods for trajectory planning in an autonomous vehicle using different fixed durations for steering and speed parameters
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机译：使用转向和速度参数的不同固定持续时间的自动驾驶车辆轨迹规划的系统和方法
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摘要
System, methods, and other embodiments described herein relate to autonomously controlling a vehicle according to a trajectory plan. In one embodiment, a method includes updating, upon traveling over at least a portion of a current segment of a roadway, the trajectory plan for a subsequent segment of the roadway by setting a fixed portion of the trajectory plan to include: (i) a steering parameter to be fixed for a first duration of time and (ii) a speed parameter to be fixed for a second duration of time. The first duration of time and the second duration of time are of different lengths. The method includes computing input controls for autonomously controlling the vehicle according to the fixed portion of the trajectory plan. The method includes controlling the vehicle according to the input controls over the subsequent segment of the roadway.
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