Cost scaling in trajectory generation
US11208096B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 2, 2018 |
| Grant date | Dec 28, 2021 |
| Priority date | — |
| Expiry date | Mar 18, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2900/00
- 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. Portions of the reference trajectory can be identified as corresponding to actions to navigate around a double-parked vehicle or to change lanes, for example. In some cases, a portion of the reference trajectory can be identified based on a proximity to an object in the environment. A weight can be associated with the portions of the reference trajectory, and the techniques can include evaluating a reference cost function at points of the reference trajectory based on the associated weights to generate a target trajectory. Further, the techniques can include 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.