NVIDIA Corporation
PATH PLANNING AND CONTROL TO ACCOUNT FOR POSITION UNCERTAINTY FOR AUTONOMOUS MACHINE APPLICATIONS

Abstract:

In various examples, systems and methods are disclosed for generating and/or analyzing candidate paths for a multi-body vehicle--e.g., a tractor trailer truck--based on obstacle avoidance considerations and using an uncertainty representation for the vehicle. The uncertainty representation may correspond to a trailer portion of the multi-body vehicle to account for the variations in rotation of the trailer with respect to the tractor. As such, the uncertainty representation may be indicative of a probability that the trailer of the vehicle occupies locations and/or points in world space. This probability--combined with the probability of locations of actors in the environment--may be used to generate candidate paths that satisfy various constraints--e.g., a minimum stochastic distance--between the vehicle and the actor.