Systems and methods for autonomous vehicle motion planning are provided. Sensor data describing an environment of an autonomous vehicle and an initial travel path for the autonomous vehicle through the environment can be obtained. A number of trajectories for the autonomous vehicle are generated based on the sensor data and the initial travel path. The trajectories can be evaluated by generating a number of costs for each trajectory. The costs can include a safety cost and a total cost. Each cost is generated by a cost function created in accordance with a number of relational propositions defining desired relationships between the number of costs. A subset of trajectories can be determined from the trajectories based on the safety cost and an optimal trajectory can be determined from the subset of trajectories based on the total cost. The autonomous vehicle can control its motion in accordance with the optimal trajectory.


    Access

    Download


    Export, share and cite



    Title :

    Systems and Methods for Costing Autonomous Vehicle Maneuvers



    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



    Systems and methods for costing autonomous vehicle maneuvers

    SUBRAMANIAN VIJAY / KAZEMI MOSLEM / BRADLEY DAVID MCALLISTER et al. | European Patent Office | 2023

    Free access

    Motion control for autonomous maneuvers of a nonholonomic vehicle

    Paromtchik, I.E. / Garnier, P. / Laugier, C. | Tema Archive | 1998


    Emergency maneuvers of autonomous vehicles

    Shiller, Z. / Sundar, S. / International Federation of Automatic Control | British Library Conference Proceedings | 1997


    Mirror assembly for autonomous maneuvers

    RUEL JEFF A / MILLER PAT C / MATHIEU DAN J | European Patent Office | 2023

    Free access

    PULLOVER MANEUVERS FOR AUTONOMOUS VEHICLES

    ZWIENER JAKOB ROBERT | European Patent Office | 2022

    Free access