Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects
US11970161B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Feb 28, 2022 |
| Grant date | Apr 30, 2024 |
| Priority date | — |
| Expiry date | Feb 28, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2720/18
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.