Method for generating trajectories for autonomous driving vehicles (ADVS)
US10884422B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 16, 2018 |
| Grant date | Jan 5, 2021 |
| Priority date | — |
| Expiry date | Oct 24, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2710/20
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In one embodiment, in response to detecting an obstacle based on a driving environment surrounding an autonomous driving vehicle (ADV), a system projects the obstacle onto a station-time (ST) graph, where the ST graph indicates a location of the obstacle relative to a current location of the ADV at different points in time. The system determines a first set of end points that are not overlapped with the obstacle within the ST graph, wherein each of the end points in the first set represents a possible end condition. The system generates a first set of trajectory candidates between a starting point representing the current location of the ADV and the end points of the first set based on the ST graph. The system selects one of the trajectory candidates in the first set using a predetermined trajectory selection algorithm to control the ADV in view of the obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.