Approach for consolidating observed vehicle trajectories into a single representative trajectory
First Claim
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1. A method of automatically controlling a first road vehicle comprising:
- obtaining, using one or more processors, a first path for the first road vehicle wherein the first path is based on road geometry stored in memory;
monitoring, using the one or more processors, a second path of a second road vehicle, wherein the second road vehicle is different from the first road vehicle and the second path comprises at least one location in a first lane of a road represented by the road geometry and at least one location in a second lane of the road adjacent to the first lane;
determining, using the one or more processors and based on information received from a sensor affixed to the first road vehicle, the presence of an obstacle in the first path;
determining, using the one or more processors, a third path based on the second path wherein the third path includes at least one location in the first lane and at least one location in the second lane; and
controlling, using the one or more processors, the operation of the first road vehicle based on the third path wherein the first road vehicle moves from the first lane to the second lane.
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Abstract
A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle'"'"'s trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.
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Citations
20 Claims
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1. A method of automatically controlling a first road vehicle comprising:
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obtaining, using one or more processors, a first path for the first road vehicle wherein the first path is based on road geometry stored in memory; monitoring, using the one or more processors, a second path of a second road vehicle, wherein the second road vehicle is different from the first road vehicle and the second path comprises at least one location in a first lane of a road represented by the road geometry and at least one location in a second lane of the road adjacent to the first lane; determining, using the one or more processors and based on information received from a sensor affixed to the first road vehicle, the presence of an obstacle in the first path; determining, using the one or more processors, a third path based on the second path wherein the third path includes at least one location in the first lane and at least one location in the second lane; and controlling, using the one or more processors, the operation of the first road vehicle based on the third path wherein the first road vehicle moves from the first lane to the second lane. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of automatically controlling a road vehicle comprising:
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monitoring, using one or more processors, a first path of a first road vehicle, wherein the first path comprises a collection of locations traveled by the first road vehicle, a first location of the first path being in a first lane of a road and a second location of the first path being in a second lane adjacent to the first lane; monitoring, using the one or more processors, a second path of a second road vehicle, wherein the second path comprises a collection of locations traveled by the second road vehicle, a first location of the second path being in the first lane of the road and a second location of the second path being in the second lane; determining, using the one or more processors, a third path based on the first path and the second path; and controlling, using the one or more processors, the operation of a third road vehicle in accordance with the third path. - View Dependent Claims (9, 10, 11, 12)
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13. A system comprising:
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one or more processors, and memory storing instructions and road geometry, the instructions being executable by the one or more processors, wherein the instructions comprise; obtaining a first path for a first road vehicle wherein the first path is based on the road geometry; monitoring a second path of a second road vehicle different from the first road vehicle; monitoring a third path of a third road vehicle different from the first and second road vehicles; determining, based on information received from a sensor affixed to the first road vehicle, whether an object external to the first road vehicle is obstructing the first path; determining, when the object is determined to be obstructing the first path, a fourth path based on the second path and the third path wherein at least a portion of the fourth path is different from the first path; and controlling the operation of the first road vehicle based on the fourth path when an object is determined to be obstructing the first path and otherwise controlling the operation of the first road vehicle in accordance with the first path. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification