Vehicle trajectory planning for autonomous vehicles
US9244462B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | May 30, 2014 |
| Grant date | Jan 26, 2016 |
| Priority date | — |
| Expiry date | Jun 7, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0217
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method for controlling an autonomous vehicle includes obtaining, by one or more processors, information describing a current state of the autonomous vehicle and a goal state of the autonomous vehicle; determining, by the one or more processors, an initial vehicle trajectory from the current state of the autonomous vehicle to the goal state of the autonomous vehicle; determining, by the one or more processors, an optimized vehicle trajectory based the initial trajectory and a velocity profile by applying numerical minimization to minimize a trajectory length value and a lateral acceleration value; and controlling the autonomous vehicle to traverse the optimized vehicle trajectory.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.