Dynamic velocity planning method for autonomous vehicle and system thereof
US11604473B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 26, 2020 |
| Grant date | Mar 14, 2023 |
| Priority date | — |
| Expiry date | Jun 6, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2554/00
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A dynamic velocity planning method for an autonomous vehicle is performed to plan a best velocity curve of the autonomous vehicle. An information storing step is performed to store an obstacle information, a road information and a vehicle information. An acceleration limit calculating step is performed to calculate the vehicle information according to a calculating procedure to generate an acceleration limit value range. An acceleration combination generating step is performed to generate a plurality of acceleration combinations according to the obstacle information, the road information, and the acceleration limit value range. An acceleration filtering step is performed to filter the acceleration combinations according to a jerk threshold and a jerk switching frequency threshold to obtain a selected acceleration combination. An acceleration smoothing step is performed to execute a driving behavior procedure to adjust the selected acceleration combination to generate the best velocity curve.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.