RULEBOOK-COMPLIANT SPATIO-TEMPORAL SAFETY CORRIDORS

原文（中文）

A motion planning system includes a memory configured to store constraints having different priorities, and at least one processor. The processor(s) are configured to identify a reference path through a spatiotemporal space that includes at least two spatial dimensions and a time dimension, where the at least two spatial dimensions define a spatial frame, and where the reference path is defined as a sequence of states of the vehicle along the reference path. The processor(s) are further configured to identify, at each of the sequence of states, a priority of a constraint that is being violated, generate, at each of the sequence of states, a bounding box having an area in the spatial frame that does not violate remaining constraints having higher priorities, and generate, based on the bounding box at each of the sequence of states, a spatiotemporal safety corridor for the vehicle through the spatiotemporal space.