×

VEHICLE TRAJECTORY PLANNING FOR AUTONOMOUS VEHICLES

  • US 20150346723A1
  • Filed: 05/30/2014
  • Published: 12/03/2015
  • Est. Priority Date: 05/30/2014
  • Status: Active Grant
First Claim
Patent Images

1. A method for controlling an autonomous vehicle, comprising:

  • obtaining, by one or more processors, information describing a current state of the autonomous vehicle and a goal state of the autonomous vehicle;

    determining, by the one or more processors, an initial vehicle trajectory from the current state of the autonomous vehicle to the goal state of the autonomous vehicle; and

    determining, by the one or more processors, an optimized vehicle trajectory based the initial trajectory and a velocity profile by applying numerical minimization to minimize a trajectory length value and a lateral acceleration value.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×