A computer-implemented method of determining a trajectory of an autonomous vehicle

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A computer-implemented method of determining a trajectory of an autonomous vehicle

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ALEX STEWART / CHI HAY TONG

Planning trajectory for an AV 10 by receiving a route 102 and sensing positions of surrounding objects 104, defining multiple passing strategies (fig 8) around the obstructions 104 as travel envelope 106 being a polygon in space-time having boundary lines formed from intersection points the AV intersects with the objects, ranking the strategies, and selecting the highest ranked strategy. When ranking the strategies, the geometric features of the polygons, such as their areas, and a width of a pinch point bottleneck, may be compared. The AV may pass ahead or behind the objects (fig 6). Unreachable regions due to kinematic constraints of the AV may include top speed, maximum acceleration, or deceleration limit. The unreachable regions may be excluded from the travel envelope. Infeasible strategies may be disregarded. The future trajectories 105 of the objects may be predicted.

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Title :

A computer-implemented method of determining a trajectory of an autonomous vehicle

Contributors:

ALEX STEWART (author) / CHI HAY TONG (author)

Publication date :

2023-12-27

Type of media :

Patent

Type of material :

Electronic Resource

Language :

English

Classification :

IPC:

B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion