公开(公告)号：US20240217541A1

公开(公告)日：2024-07-04

申请号：US18149501

申请日：2023-01-03

Applicant: GM Cruise Holdings LLC

Inventor： Martin Sehr ,  Benjamin Tearle ,  Shad Laws

IPC: B60W60/00 ,  B60W40/02

CPC classification number: B60W60/001 ,  B60W40/02 ,  B60W2555/20 ,  B60W2556/45 ,  B60W2756/10

Abstract: A vehicle capability broadcaster may receive information indicating a condition in an environment where an AV may operate. The vehicle capability broadcaster determines a first vehicle capability parameter and a second vehicle capability parameter based on the condition. The vehicle capability parameters may indicate capabilities of the AV for making different types of motions, e.g., limits of the AV making different motions. The vehicle capability broadcaster may transmit the first vehicle capability parameter to a first planning module and transmit the second vehicle capability parameter to a second planning module. The first planning module and the second planning module may plan one or more motions of the AV in the operation based on the vehicle capability parameters. The vehicle capability broadcaster may update a vehicle capability parameter and transmit the updated vehicle capability parameter to one of the planning modules after the one or more motions are planned.

公开(公告)号：US20240109558A1

公开(公告)日：2024-04-04

申请号：US17950881

申请日：2022-09-22

Applicant: GM Cruise Holdings LLC

Inventor： Rushil Goradia ,  Dogan Gidon ,  Martin Sehr ,  Pradeep Bhatta

IPC: B60W60/00

CPC classification number: B60W60/0015 ,  B60W30/02

Abstract: Systems and techniques are provided for adjusting the planned path of an autonomous vehicle to converge with the actual path. An example method can include determining a first pose error associated with a first pose component from one or more pose components, wherein the first pose error is based on a first difference between an actual pose of an autonomous vehicle and a planned pose of the autonomous vehicle; determining that the first pose error associated with the first pose component exceeds a pose error threshold corresponding to the first pose component; and generating a new planned pose of the autonomous vehicle that yields a reduced first pose error associated with the first pose component, wherein the reduced first pose error is based on a second difference between the actual pose of the autonomous vehicle and the new planned pose of the autonomous vehicle.

公开(公告)号：US20240217551A1

公开(公告)日：2024-07-04

申请号：US18150139

申请日：2023-01-04

Applicant: GM Cruise Holdings LLC

Inventor： Shad Laws ,  Martin Sehr ,  Rushil Goradia ,  Dogan Cohen-Gidon

IPC: B60W60/00

CPC classification number: B60W60/0013 ,  B60W2520/105 ,  B60W2555/00 ,  B60W2555/20

Abstract: Systems and methods for measuring passenger comfort and trading off passenger comfort with other metrics in autonomous vehicle planning and control. Perception of kinematic comfort relative to acceleration can vary depending on the frequency of acceleration. Systems and methods are provided to use the relationship between kinematic comfort and acceleration to introduce a cost on the ratio between acceleration and jerk. In various examples, the resulting cost can be traded off against other cost terms such as obstacle buffers and reference tracking constraints. Autonomous vehicle planning and control problem formulations can be encoded to include a direct tradeoff between both lateral and longitudinal comfort metrics and other variables.