Method on moving obstacle representation for trajectory planning
US10816985B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 17, 2018 |
| Grant date | Oct 27, 2020 |
| Priority date | — |
| Expiry date | May 29, 2039 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04W4/40
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
According to some embodiments, a system operates an ADV. In one embodiment, the system perceives a driving environment surrounding the ADV based on sensor data obtained from a plurality of sensors, including perceiving a moving obstacle that is moving relative to the ADV. The system projects the moving obstacle as a figure onto a station-time (ST) coordinate system, wherein the ST coordinate system indicates a distance between the figure and a reference point at different points in time. And the system, for each of a plurality of predetermined processing time intervals, determines two points of the figure in the ST coordinate system to represent a shape of the figure, wherein the shape of the figure is utilized to plan a trajectory to drive the ADV to avoid colliding with the moving obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.