公开(公告)号：US11414130B2

公开(公告)日：2022-08-16

申请号：US16597273

申请日：2019-10-09

申请人： Argo AI, LLC

发明人： Neal Seegmiller ,  Christopher Cunningham ,  Ramadev B. Hukkeri ,  Thomas Petroff ,  Albert Costa

IPC分类号： B60W30/00 ,  B62D15/02 ,  B60W30/18 ,  G08G1/16 ,  G01C21/36 ,  H04W4/02

摘要： A method and a system for maneuvering an autonomous vehicle is disclosed. The system includes an autonomous vehicle including one or more sensors and a processor. The processor is configured to generate a nominal route from a start position toward a destination with reference to a road network map. The nominal route includes a plurality of consecutive lane segments from the start position to the destination. The processor is further configured to use the road network map to identify at least one candidate lane segment corresponding to one or more of the plurality of consecutive lane segments to generate an expanded route representation, generate a multi-corridor representation of a local region around the autonomous vehicle while travelling on the nominal path, and generate a trajectory for the autonomous vehicle to traverse the local region using the multi-corridor representation and perception data corresponding to the autonomous vehicle.

公开(公告)号：US20210107566A1

公开(公告)日：2021-04-15

申请号：US16597273

申请日：2019-10-09

申请人： Argo AI, LLC

发明人： Neal Seegmiller ,  Christopher Cunningham ,  Ramadev B. Hukkeri ,  Thomas Petroff ,  Albert Costa

IPC分类号： B62D15/02 ,  B60W30/18 ,  G08G1/16 ,  G01C21/36 ,  H04W4/02

摘要： A method and a system for maneuvering an autonomous vehicle is disclosed. The system includes an autonomous vehicle including one or more sensors and a processor. The processor is configured to generate a nominal route from a start position toward a destination with reference to a road network map. The nominal route includes a plurality of consecutive lane segments from the start position to the destination. The processor is further configured to use the road network map to identify at least one candidate lane segment corresponding to one or more of the plurality of consecutive lane segments to generate an expanded route representation, generate a multi-corridor representation of a local region around the autonomous vehicle while travelling on the nominal path, and generate a trajectory for the autonomous vehicle to traverse the local region using the multi-corridor representation and perception data corresponding to the autonomous vehicle.