公开(公告)号：US12130624B2

公开(公告)日：2024-10-29

申请号：US17585650

申请日：2022-01-27

申请人： Aurora Operations, Inc.

发明人： Michael Lee Phillips ,  Don Burnette ,  Kalin Vasilev Gochev ,  Somchaya Liemhetcharat ,  Harishma Dayanidhi ,  Eric Michael Perko ,  Eric Lloyd Wilkinson ,  Colin Jeffrey Green ,  Wei Liu ,  Anthony Joseph Stentz ,  David Mcallister Bradley ,  Samuel Philip Marden

IPC分类号： G05D1/00 ,  B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18 ,  B60W50/00 ,  G01C21/20 ,  G01C21/34 ,  G05D1/02

CPC分类号： G05D1/0088 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  G01C21/20 ,  G01C21/3453 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0221 ,  G05D1/0223 ,  B60W2554/00

摘要： The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can generate constraints based on where objects of interest are predicted to be relative to an autonomous vehicle. A constraint solver can identify navigation decisions for each of the constraints that provide a consistent solution across all constraints. The solution provided by the constraint solver can be in the form of a trajectory path determined relative to constraint areas for all objects of interest. The trajectory path represents a set of navigation decisions such that a navigation decision relative to one constraint doesn't sacrifice an ability to satisfy a different navigation decision relative to one or more other constraints.