Patent · US Active

Motion planning methods and systems for autonomous vehicle

US10990099B2 · kind B2 · utility

2Cited by

2References

20Claims

0Family size

Assignee

GREAT WALL MOTOR COMPANY LIMITED · CN

Inventors

Duong Le · Westland, US
Kai Zhang · Shanghai, CN
Zhichao Liu · Shanghai, CN

Key dates

Filing date	Dec 21, 2018
Grant date	Apr 27, 2021
Priority date	—
Expiry date	Jul 25, 2039

Classification

Technology area (CPC B)Performing Operations; Transporting
CPC primaryB60W2556/10
WIPO fieldTransport
WIPO sectorMechanical engineering

Abstract

Disclosed herein are methods and systems for motion planning in an autonomous vehicle (AV) that separate path planning and velocity planning and may use reference lines in combination with motion planners to determine paths. The method may include reference lines to project planning data into a S-L coordinate system. A motion planner algorithm uses the reference lines and previous path planning history to generate a path in the S-L coordinate system. A velocity is determined for the path. An AV controller is updated with the path and the velocity. Motion planning computations use a dynamic vehicle look-up table to determine possible vehicle motions based on an initial state and control input.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.