Vehicle trajectory optimization for autonomous vehicles
US9405293B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | May 30, 2014 |
| Grant date | Aug 2, 2016 |
| Priority date | — |
| Expiry date | Jul 29, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0278
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method for controlling an autonomous vehicle includes obtaining information describing a roadway; defining a plurality of layers along the roadway between a starting position and a goal position, each layer having a first width, and each layer having a plurality of nodes that are spaced from one another transversely with respect to the roadway within the first width; and determining a first trajectory from the starting position to the goal position, by minimizing a cost value associated with traversing the layers. Determining the first trajectory includes, for each layer, determining layer-specific weighting factors for each of a plurality of cost components, based on information associated with the respective layer, and determining, for each node of the respective layer, a cost for travelling to one or more of the nodes in a subsequent layer based on the plurality of cost components and the layer-specific weighting factors.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.