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VEHICLE TRAJECTORY OPTIMIZATION FOR AUTONOMOUS VEHICLES

  • US 20150345959A1
  • Filed: 05/30/2014
  • Published: 12/03/2015
  • Est. Priority Date: 05/30/2014
  • Status: Active Grant
First Claim
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1. A method for controlling an autonomous vehicle, comprising:

  • obtaining, by one or more processors, information describing a roadway from a starting position to a goal position;

    defining, by the one or more processors, a plurality of layers along the roadway at spaced locations between the starting position and the goal position, each layer having a first width, and each layer having a plurality of nodes that are spaced from one another transversely with respect to the roadway within the first width; and

    determining, by the one or more processors, a first trajectory from the starting position to the goal position, by minimizing a cost value associated with traversing the layers, including, for each layer;

    determining layer-specific weighting factors for each of a plurality of cost components, based on information associated with the respective layer, anddetermining, for each node of the respective layer, a cost for travelling to one or more of the nodes in a subsequent layer based on the plurality of cost components and the layer-specific weighting factors.

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