A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.


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    Title :

    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING OF AN AUTONOMOUS VEHICLE IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS


    Contributors:

    Publication date :

    2022-06-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06V



    Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | European Patent Office | 2024

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    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING OF AN AUTONOMOUS VEHICLE IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | European Patent Office | 2019

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    Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | European Patent Office | 2022

    Free access

    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN ENVIRONMENT HAVING DYNAMIC OBJECTS

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | European Patent Office | 2021

    Free access

    APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS

    SORIN DANIEL / FLOYD-JONES WILLIAM / MURRAY SEAN et al. | European Patent Office | 2022

    Free access