Techniques are discussed herein for generating trajectories for controlling motion and/or other behaviors of vehicles in driving environments. In particular, techniques are described herein for using a tree search to determine a trajectory for a vehicle to join a driving route from an initial vehicle state off of the driving route structure. A vehicle computing system may determine various candidate trajectories, including trajectories based on an off-route inertial reference frame, additional trajectories based on the route structure, perturbed trajectories, etc. The set of candidate trajectories may be optimized and/or filtered based on objects in the environment, and the corresponding candidate actions may be used to generate a search tree between the off-route vehicle state and an on-route target state. The costs associated with the candidate actions may be evaluated iteratively to determine a minimum cost traversal of the tree, representing a control trajectory to allow the vehicle to join the driving route structure.


    Access

    Download


    Export, share and cite



    Title :

    VEHICLE TRAJECTORY TREE SEARCH FOR OFF-ROUTE DRIVING MANEUVERS


    Contributors:

    Publication date :

    2024-05-30


    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



    VEHICLE TRAJECTORY TREE SEARCH FOR OFF-ROUTE DRIVING MANEUVERS

    NARAYANAN SRIRAM / QIAN STEVEN | European Patent Office | 2024

    Free access

    Vehicle steering maneuvers with direct trajectory optimization

    Soudbakhsh, D. / Eskandarian, A. / Chichka, D. | Tema Archive | 2010


    BiGRU based online multi-modal driving maneuvers and trajectory prediction

    Zhi, Yongshuai / Bao, Zhipeng / Zhang, Sumin et al. | SAGE Publications | 2021


    VEHICLE TRAJECTORY CONTROL USING A TREE SEARCH

    CALDWELL TIMOTHY / FONSECA RASMUS / HOUSHMAND ARIAN et al. | European Patent Office | 2023

    Free access

    Trajectory Prediction for Safety Critical Maneuvers in Automated Highway Driving

    Wissing, Christian / Nattermann, Till / Glander, Karl-Heinz et al. | IEEE | 2018