System and method for trajectory planning for unexpected pedestrians
US9857795B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 24, 2016 |
| Grant date | Jan 2, 2018 |
| Priority date | — |
| Expiry date | Aug 12, 2036 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2556/50
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A trajectory planning system for an autonomous vehicle fits a jerk profile including a plurality of phases within a set of acceptable parameters, a jerk value being constant within each phase of the jerk profile. The system parameterizes the jerk profile based on an initial velocity, an initial acceleration, a final velocity, and a final acceleration for the first segment. The system then integrates the jerk profile to determine a first trajectory function, the first trajectory function including a speed for the vehicle at a given time. The system guides the vehicle along the first segment of the path according to the first trajectory function. The system detects an unplanned obstacle along the first segment of the path. The system plans a second trajectory function for a second segment of the path between a current location of the vehicle and a location on the path before the unplanned obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.