×

Systems and Methods of Controlling an Autonomous Vehicle Using an Enhanced Trajectory Following Configuration

  • US 20190064813A1
  • Filed: 08/29/2017
  • Published: 02/28/2019
  • Est. Priority Date: 08/29/2017
  • Status: Active Grant
First Claim
Patent Images

1. A computer-implemented method for controlling an autonomous vehicle, the method comprising:

  • obtaining, by a computing system comprising one or more computing devices, data representing a first trajectory of an autonomous vehicle that indicates a motion path between an initial state of the autonomous vehicle and a final state of the autonomous vehicle, the first trajectory including one or more intermediate states corresponding to the motion path;

    determining, by the computing system, a second trajectory based at least in part on the first trajectory, the second trajectory including a first state corresponding to the motion path, and one or more secondary states corresponding to the motion path, the one or more secondary states indicating a state of the autonomous vehicle relative to the first state;

    determining, by the computing system, one or more control signals based at least in part on the second trajectory, wherein the control signals cause the autonomous vehicle to execute at least part of the motion path; and

    controlling a motion of the autonomous vehicle according to the motion path, based at least in part on the one or more control signals.

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