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Methods and systems for smooth trajectory generation for a self-driving vehicle

  • US 9,120,485 B1
  • Filed: 09/14/2012
  • Issued: 09/01/2015
  • Est. Priority Date: 09/14/2012
  • Status: Active Grant
First Claim
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1. A method, comprising:

  • controlling, using a computer system, a vehicle in an autonomous mode to follow a first trajectory, the first trajectory comprising a pre-determined path;

    receiving data indicating a second trajectory;

    defining a plurality of vertices based on the first trajectory;

    defining a first set of cost functions for the plurality of vertices, wherein each cost function in the first set assigns to a respective vertex in the plurality of vertices a respective cost based on a distance from the respective vertex to the second trajectory;

    defining a second set of cost functions for the plurality of vertices, wherein each cost function in the second set assigns to a respective vertex in the plurality of vertices a respective cost based on a distance from the respective vertex to an estimated center of a road lane on which the vehicle is currently traveling;

    optimizing the location of the vertices in the plurality of vertices based on at least the costs assigned by the first set of cost functions and the second set of cost functions;

    determining a transitional trajectory based on the optimized vertices, wherein the transitional trajectory transitions from the first trajectory to the second trajectory; and

    controlling the vehicle in the autonomous mode to follow the transitional trajectory.

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