Controlling error corrected planning methods for operating autonomous vehicles
First Claim
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1. A computer-implemented method for operating an autonomous vehicle, the method comprising:
- receiving motion planning and control data indicating that an autonomous vehicle is to move from a first point to a second point of a path, the motion planning and control data describing a plurality of routes from the first point to the second point within the path;
for each of the routes,performing a simulation of the route in view of physical characteristics of the autonomous vehicle to generate a simulated route, andcomputing a controlling error representing a discrepancy between the route and the simulated route;
selecting one of the routes based on controlling errors between the routes and associated simulated routes; and
operating the autonomous vehicle moving from the first point to the second point according to the selected route.
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Abstract
In one embodiment, motion planning and control data is received, indicating that an autonomous vehicle is to move from a first point to a second point of a path. The motion planning and control data describes a plurality of routes from the first point to the second point within the path. For each of the routes, a simulation of the route is performed in view of physical characteristics of the autonomous vehicle to generate a simulated route. A controlling error is calculated, the controlling error representing a discrepancy between the route and the simulated route. One of the routes is selected based on controlling errors between the routes and associated simulated routes. The autonomous vehicle is operated to move from the first point to the second point according to the selected route.
48 Citations
15 Claims
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1. A computer-implemented method for operating an autonomous vehicle, the method comprising:
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receiving motion planning and control data indicating that an autonomous vehicle is to move from a first point to a second point of a path, the motion planning and control data describing a plurality of routes from the first point to the second point within the path; for each of the routes, performing a simulation of the route in view of physical characteristics of the autonomous vehicle to generate a simulated route, and computing a controlling error representing a discrepancy between the route and the simulated route; selecting one of the routes based on controlling errors between the routes and associated simulated routes; and operating the autonomous vehicle moving from the first point to the second point according to the selected route. - View Dependent Claims (2, 3, 4, 5)
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6. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating an autonomous vehicle, the operations including
receiving motion planning and control data indicating that an autonomous vehicle is to move from a first point to a second point of a path, the motion planning and control data describing a plurality of routes from the first point to the second point within the path; -
for each of the routes, performing a simulation of the route in view of physical characteristics of the autonomous vehicle to generate a simulated route, and computing a controlling error representing a discrepancy between the route and the simulated route; selecting one of the routes based on controlling errors between the routes and associated simulated routes; and operating the autonomous vehicle moving from the first point to the second point according to the selected route. - View Dependent Claims (7, 8, 9, 10)
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11. A data processing system, comprising:
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a processor; and a memory coupled to the processor for storing instructions, which when executed by the processor, cause the processor to perform operations of operating an autonomous vehicle, the operations including receiving motion planning and control data indicating that an autonomous vehicle is to move from a first point to a second point of a path, the motion planning and control data describing a plurality of routes from the first point to the second point within the path, for each of the routes, performing a simulation of the route in view of physical characteristics of the autonomous vehicle to generate a simulated route, and computing a controlling error representing a discrepancy between the route and the simulated route, selecting one of the routes based on controlling errors between the routes and associated simulated routes, and operating the autonomous vehicle moving from the first point to the second point according to the selected route. - View Dependent Claims (12, 13, 14, 15)
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Specification
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Current AssigneeBaidu USA LLC (Baidu Incorporated)
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Original AssigneeBaidu USA LLC (Baidu Incorporated)
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InventorsKong, Qi, Zhu, Fan, Li, Dong, Jiang, Yifei, Zhuang, Li, Yang, Guang, Wang, Jingao
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Primary Examiner(s)Tran, Khoi H
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Assistant Examiner(s)Peche, Jorge O
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Application NumberUS15/216,566Publication NumberTime in Patent Office887 DaysField of SearchUS Class CurrentCPC Class CodesB60W 2420/54 Audio sensitive means, e.g....B60W 2530/00 Input parameters relating t...B60W 2540/18 Steering angleB60W 2556/50 of positioning data, e.g. G...B60W 30/09 Taking automatic action to ...B60W 30/0953 the prediction being respon...G01C 21/34 Route searching; Route guid...G01C 21/3407 specially adapted for speci...G05D 1/0088 characterized by the autono...G05D 1/0212 with means for defining a d...G05D 1/0248 in combination with a laser...G05D 1/0257 using a radar radar systems...G05D 1/027 comprising intertial naviga...G05D 1/0278 using satellite positioning...G08G 1/096827 where the route is computed...G08G 1/096844 where the complete route is...
