Vehicle trajectory modification for following
US11970168B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 1, 2021 |
| Grant date | Apr 30, 2024 |
| Priority date | — |
| Expiry date | Sep 1, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30241
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Techniques for determining to modify a trajectory based on an object are discussed herein. A vehicle can determine a drivable area of an environment, capture sensor data representing an object in the environment, and perform a spot check to determine whether or not to modify a trajectory. Such a spot check may include processing to incorporate an actual or predicted extent of the object into the drivable area to modify the drivable area. A distance between a reference trajectory and the object can be determined at discrete points along the reference trajectory, and based on a cost, distance, or intersection associated with the trajectory and the modified area, the vehicle can modify its trajectory. One trajectory modification includes following, which may include varying a longitudinal control of the vehicle, for example, to maintain a relative distance and velocity between the vehicle and the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.