Systems and methods for generating a driving trajectory
AssigneeToyota Jidosha Kabushiki Kaisha
InventorAlexander Christoph Schaefer
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Abstract
Systems, methods, and other embodiments described herein relate to generating driving trajectories based on vehicle traces through lane gates. In one embodiment, a method includes generating a network of lane gates for a multi-lane road. The method also includes, for a target lane gate in the network, 1) identifying paths of connected lane gates passing through the target lane gate, 2) clustering vehicle traces passing through the target lane gate that have a same trace path, and 3) calculating a lateral position along the target lane gate for a cluster of vehicle traces. The method also includes generating a driving trajectory for the path based on lateral positions for the cluster at multiple lane gates along a path.
Claims20
A system, comprising:
- a processor;
- and
- a memory storing machine-readable instructions that, when executed by the processor, cause the processor to:
- generate a network of lane gates for a multi-lane road;
- for a target lane gate in the network:
- identify multiple gate paths through the target lane gate, a gate path is defined by a sequence of lane gates that includes the target lane gate;
- form a cluster of vehicle traces passing through the target lane gate that have a trace path corresponding to a given one of the identified gate paths;
- calculate a lateral position along the target lane gate for the cluster of vehicle traces;
- and
- generate a driving trajectory based on lateral positions at multiple lane gates along the given one of the identified gate paths.
A non-transitory machine-readable medium comprising instructions that, when executed by a processor, cause the processor to:
- generate a network of lane gates for a multi-lane road;
- for a target lane gate in the network:
- identify multiple gate paths through the target lane gate, a gate path is defined by a sequence of lane gates that includes the target lane gate;
- form a cluster of vehicle traces passing through the target lane gate that have a trace path corresponding to a given one of the identified gate paths;
- calculate a lateral position along the target lane gate for the cluster of vehicle traces;
- and
- generate a driving trajectory based on lateral positions for the cluster at multiple lane gates along the given one of the identified gate paths.
A method, comprising:
- generating a network of lane gates for a multi-lane road;
- for a target lane gate in the network:
- identifying multiple gate paths through the target lane gate, a gate path is defined by a sequence of lane gates that includes the target lane gate;
- forming a cluster of vehicle traces passing through the target lane gate that have a trace path corresponding to a given one of the identified gate paths;
- calculating a lateral position along the target lane gate for the cluster of vehicle traces;
- and
- generating a driving trajectory based on lateral positions at multiple lane gates along the given one of the identified gate paths.
Dependencies are inferred from the claim text.