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Trajectory generation and execution architecture

  • US 10,353,390 B2
  • Filed: 06/23/2017
  • Issued: 07/16/2019
  • Est. Priority Date: 03/01/2017
  • Status: Active Grant
First Claim
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1. A system embodied in an autonomous vehicle, the system comprising:

  • a first computer system comprising;

    one or more first processors; and

    one or more first computer readable storage media communicatively coupled to the one or more first processors and storing one or more first modules including instructions that are executable by the one or more first processors, the one or more first modules comprising;

    a route planning module configured to generate a route between a current location of the autonomous vehicle and a target location of the autonomous vehicle, the route planning module operating at a first operational frequency;

    a decision module configured to generate an instruction based on the route, the instruction including a sequence of actions to guide the autonomous vehicle along at least a portion of the route, the decision module operating at a second operational frequency; and

    a trajectory module configured to;

    access real-time processed sensor data; and

    generate an output trajectory based at least in part on the instruction and the real-time processed sensor data, the trajectory module operating at a third operational frequency; and

    a second computer system comprising;

    one or more second processors; and

    one or more second computer readable storage media communicatively coupled to the one or more second processors and storing one or more second modules including instructions that are executable by the one or more second processors, the one or more second modules comprising an execution module configured to generate one or more signals for causing the autonomous vehicle to drive along the output trajectory, the execution module operating at a fourth operational frequency.

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