DRIVING PATH DETERMINATION FOR AUTONOMOUS VEHICLES
First Claim
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1. A method of autonomous driving, comprising:
- identifying, using a perception module executable by at least one processor, from detected information about an environment surrounding a vehicle on a roadway, a lateral surface profile of the roadway;
determining, using a planning/decision making module executable by the at least one processor, based on the lateral surface profile of the roadway, vertical wheel positions at identified candidate future lateral positions of the vehicle; and
determining, using the planning/decision making module executable by the at least one processor, as part of a driving path along the roadway, and based on the determined vertical wheel positions, future lateral positions of the vehicle from among the identified candidates therefor using an energy function that algorithmically favors low vertical wheel positions.
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Abstract
A method of autonomous driving includes identifying, from detected information about an environment surrounding a vehicle on a roadway, a lateral surface profile of the roadway. Based on the lateral surface profile of the roadway, vertical wheel positions at identified candidate future lateral positions of the vehicle are determined. Based on the vertical wheel positions, as part of a driving path along the roadway, future lateral positions of the vehicle from among the identified candidates therefor are determined using an energy function that favors low vertical wheel positions.
27 Citations
20 Claims
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1. A method of autonomous driving, comprising:
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identifying, using a perception module executable by at least one processor, from detected information about an environment surrounding a vehicle on a roadway, a lateral surface profile of the roadway; determining, using a planning/decision making module executable by the at least one processor, based on the lateral surface profile of the roadway, vertical wheel positions at identified candidate future lateral positions of the vehicle; and determining, using the planning/decision making module executable by the at least one processor, as part of a driving path along the roadway, and based on the determined vertical wheel positions, future lateral positions of the vehicle from among the identified candidates therefor using an energy function that algorithmically favors low vertical wheel positions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A vehicle, comprising:
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sensors configured to detect information about an environment surrounding the vehicle; vehicle systems operable to maneuver the vehicle; and one or more modules stored on memory and executable by at least one processor for initiating instructions, the instructions including; identifying, from the detected information about the environment surrounding the vehicle, a lateral surface profile of the roadway; determining, based on the lateral surface profile of the roadway, vertical wheel positions at identified candidate future lateral positions of the vehicle; determining, as part of a driving path along the roadway, and based on the determined vertical wheel positions, future lateral positions of the vehicle from among the identified candidates therefor using an energy function that algorithmically favors low vertical wheel positions; and operating the vehicle systems to maneuver the vehicle along the roadway according to a driving plan describing the driving path. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification