Hierarchical motion planning for autonomous vehicles
US10518770B2 · kind B2 · utility
19Cited by
2References
14Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Mar 14, 2017 |
| Grant date | Dec 31, 2019 |
| Priority date | — |
| Expiry date | Apr 25, 2037 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2420/408
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
An autonomous vehicle can implement a primary motion planner to continuously determine an first motion plan for the AV, and a secondary motion planner to continuously determine a backup motion plan for the AV. The secondary motion planner can comprise one or more cost metrics that act to diverge the backup motion plan from the first motion plan. A control system of the AV may then analyze a live sensor view generated by a sensor suite of the AV to operate acceleration, braking, and steering systems of the AV along sequential route trajectories selected between the first motion plan and the backup motion plan.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.