Adaptive scaling in trajectory generation
US11048260B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 2, 2018 |
| Grant date | Jun 29, 2021 |
| Priority date | — |
| Expiry date | Nov 2, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2554/801
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Techniques for generating trajectories and drivable areas for navigating a vehicle in an environment are discussed herein. The techniques can include receiving a reference trajectory representing an initial trajectory for a vehicle, such as an autonomous vehicle, to traverse the environment. A point density can be determined for various portions of the reference trajectory. In some cases, the point density can be based at least in part on a cost associated with a curvature value associated the reference trajectory or a cost associated with a distance between the reference trajectory and an obstacle in the environment. Further, the techniques can include evaluating a cost function at points on the reference trajectory to generate a target trajectory with respect to the reference trajectory, and controlling the autonomous vehicle to traverse the environment based at least in part on the target trajectory.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.