Vehicle control using context-sensitive trajectory generation
US12077181B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 30, 2021 |
| Grant date | Sep 3, 2024 |
| Priority date | — |
| Expiry date | Dec 1, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2720/24
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Controlling motion of an autonomous vehicle may comprise determining a state space representation of the environment associated with the autonomous vehicle based at least in part on sensor data. The autonomous vehicle may parameterize the state space according to arc length and lateral distance from a route reference. The autonomous vehicle may determine a state in the state space upon which to base trajectory generation (e.g., via a tree search, via a state space sampling technique based on cost) and may determine a set of control instructions (i.e., a trajectory) that would bring the autonomous vehicle to the arc length and lateral distance specified by the state. Determining the state for generating the trajectory may be based on a heuristic for determining approximately where the trajectory would bring the vehicle, since the arc length parameterized state space doesn't include an indication of location.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.