公开(公告)号：US20220097732A1

公开(公告)日：2022-03-31

申请号：US17034366

申请日：2020-09-28

申请人： Argo Al, LLC

发明人： Christopher Cunningham ,  Neal Seegmiller ,  Mark Ollis ,  Andrew T. Hartnett ,  G. Peter K. Carr ,  Constantin Savtchenko

IPC分类号： B60W60/00 ,  G01C21/34 ,  B60W30/09

摘要： A method of determining a trajectory for an autonomous vehicle is disclosed. An ego-vehicle may detect a moving actor in an environment. To choose between candidate trajectories for the ego-vehicle, the system will consider the cost of each candidate trajectory to the moving actor. The system will use the candidate trajectory costs for the candidate trajectories to select one of the candidate trajectories via which to move the ego-vehicle. An autonomous vehicle system of the ego-vehicle may then move the ego-vehicle in the environment along the selected trajectory.

公开(公告)号：US20240017746A1

公开(公告)日：2024-01-18

申请号：US18363066

申请日：2023-08-01

申请人： Argo Al, LLC

发明人： Constantin Savtchenko ,  Alexander Metz ,  Andrew T. Hartnett ,  G. Peter K. Carr ,  Greydon Foil ,  Lorenzo Nardi

IPC分类号： B60W60/00 ,  G06V20/56 ,  G06F18/214

CPC分类号： B60W60/00272 ,  B60W60/00274 ,  B60W60/0015 ,  G06V20/588 ,  G06F18/2155

摘要： Systems and methods for controlling an autonomous vehicle (AV). The methods comprise: generating candidate intentions of an actor based on a detected action of the actor and a classification associated with the actor; determining an overall probability for each candidate intention based on at least a persistence of the candidate intention over a non-interrupted sequence of cycles (where each cycle represents a time period over which the actor was sensed by a sensor); selecting candidate intention(s) based on the overall probabilities; forecasting a subsequent future intention that the actor may have after reaching a goal defined by the candidate intention(s) which was(were) selected; obtaining an actor trajectory that is consistent with the candidate intention(s) which was(were) selected and the subsequent future intention; and using the actor trajectory to influence a selected trajectory for AV.