VEHICLE TRAJECTORY OPTIMIZATION FOR AUTONOMOUS VEHICLES
First Claim
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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Accused Products
Abstract
A method for controlling an autonomous vehicle includes obtaining information describing a roadway; defining a plurality of layers along the roadway between a starting position and a 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 a first trajectory from the starting position to the goal position, by minimizing a cost value associated with traversing the layers. Determining the first trajectory includes, for each layer, determining layer-specific weighting factors for each of a plurality of cost components, based on information associated with the respective layer, and determining, 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.
42 Citations
21 Claims
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1. A method for controlling an autonomous vehicle, comprising:
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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, and determining, 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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A control apparatus for an autonomous vehicle, comprising:
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one or more processors; and one or more memory devices for storing program instructions used by the one or more processors, wherein the program instructions, when executed by the one or more processors, cause the one or more processors to; obtain information describing a roadway from a starting position to a goal position; define 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 determine 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, and determining, 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. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An autonomous vehicle, comprising:
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a trajectory planning system that includes one or more processors and one or more memory devices for storing program instructions used by the one or more processors, wherein the program instructions, when executed by the one or more processors, cause the one or more processors to; obtain information describing a roadway from a starting position to a goal position, define 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 determine 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, and determining, 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; a steering device that is operable to change a steering angle of at least one steered wheel; and a steering control system operable to receive an input signal from the trajectory planning system and output a steering control signal to the steering device for controlling operation of the steering device. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification