Method and system for generating a trajectory for navigating an autonomous vehicle

A trajectory generating system for generating a trajectory for navigating an autonomous vehicle, the trajectory generating system comprising:

• a processor;
• and
• a memory communicatively coupled to the processor, wherein the memory stores processor-executable instructions, which, on execution, cause the processor to:
• detect one or more Points of Interest (POIs) for a selected segment, on a pre-generated navigation path, in real-time,
• wherein the selected segment is at a predefined distance from a current position of the autonomous vehicle, and
• wherein the pre-generated navigation path is generated based on a source point and a destination point;
• determine an impact of the one or more POIs on navigation of the autonomous vehicle;
• determine features of each of the one or more POIs based on the impact of the one or more POIs on the navigation of the autonomous vehicle, wherein the features comprise at least one of one or more parameter values and a priority value corresponding to the one or more parameter values;
• detect a previous segment prior to the selected segment, wherein the previous segment has a previously generated trajectory;
• generate a first level trajectory for the selected segment at an end portion of the previously generated trajectory based on the features of each of the one or more POIs for the selected segment, in real-time,
• wherein the first level trajectory comprises a velocity-acceleration plan that acts as a threshold velocity and a threshold acceleration set for the autonomous vehicle, and
• wherein the first level trajectory is generated for the selected segment when the autonomous vehicle is navigating through the previously generated trajectory for the previous segment;
• acquire real-time environment data indicating a real-time situation along the selected segment;
• determine one or more portions of the first level trajectory which is visible for Field Of View (FOV) of one or more sensors associated with the autonomous vehicle;
• generate a second level trajectory for one or more portions of the first level trajectory beginning from the current position of the autonomous vehicle, by modifying each of the one or more portions of the first level trajectory based on the real-time environment data;
• and
• transmit the second level trajectory to a navigation module associated with the trajectory generating system to determine a command velocity for navigating the autonomous vehicle.

A non-transitory computer readable medium including instructions stored thereon that when processed by at least one processor cause a trajectory generating system to perform operations comprising:

• detecting one or more Points of Interest (POIs) for a selected segment, on a pre-generated navigation path, in real-time,
• wherein the selected segment is at a predefined distance from a current position of an autonomous vehicle, and
• wherein the pre-generated navigation path is generated based on a source point and a destination point;
• determining an impact of the one or more POIs on navigation of the autonomous vehicle;
• determining features of each of the one or more POIs based on the impact of the one or more POIs on the navigation of the autonomous vehicle, wherein the features comprise at least one of one or more parameter values and a priority value corresponding to the one or more parameter values;
• detecting a previous segment prior to the selected segment, wherein the previous segment has a previously generated trajectory;
• generating a first level trajectory for the selected segment at an end portion of the previously generated trajectory based on the features of each of the one or more POIs for the selected segment, in real-time,
• wherein the first level trajectory comprises a velocity-acceleration plan that acts as a threshold velocity and a threshold acceleration set for the autonomous vehicle, and
• wherein the first level trajectory is generated for the selected segment when the autonomous vehicle is navigating through the previously generated trajectory for the previous segment;
• acquiring real-time environment data indicating a real-time situation along the selected segment;
• determining one or more portions of the first level trajectory which is visible for Field Of View (FOV) of one or more sensors associated with the autonomous vehicle;
• generating a second level trajectory for one or more portions of the first level trajectory beginning from the current position of the autonomous vehicle, by modifying each of the one or more portions of the first level trajectory based on the real-time environment data;
• and
• transmitting the second level trajectory to a navigation module associated with the trajectory generating system to determine a command velocity for navigating the autonomous vehicle.