公开(公告)号：US20220219728A1

公开(公告)日：2022-07-14

申请号：US17149461

申请日：2021-01-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Sami Ahmed ,  Kevin A. O'Dea ,  Audrey D. Porter ,  Bakhtiar B. Litkouhi ,  Nikolai K. Moshchuk ,  Kausalya Singuru

IPC: B60W60/00 ,  B60W40/072

Abstract: Systems and methods for controlling an autonomous vehicle are described. A trajectory planner module provides a first trajectory to a trajectory control module. The trajectory control module determines parameters of the first trajectory. The trajectory control module compares the parameters to a respective threshold value. The trajectory control module obtains one or more alternative trajectories, determines parameters of each alternative trajectory, and compares the parameters of the alternative trajectory to a respective threshold value. The trajectory control module selects a trajectory for controlling the autonomous vehicle that has parameters which are within a range defined by the threshold values and controls the autonomous vehicle based on the selected trajectory. Thus, before handing back control to a driver, the trajectory control module selects from alternate trajectories for controlling the autonomous vehicle.

公开(公告)号：US11807268B2

公开(公告)日：2023-11-07

申请号：US17149461

申请日：2021-01-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Sami Ahmed ,  Kevin A. O'Dea ,  Audrey D. Porter ,  Bakhtiar B. Litkouhi ,  Nikolai K. Moshchuk ,  Kausalya Singuru

IPC: B60W60/00 ,  B60W40/072

CPC classification number: B60W60/0011 ,  B60W40/072 ,  B60W60/0053 ,  B60W2520/105 ,  B60W2520/125

Abstract: Systems and methods for controlling an autonomous vehicle are described. A trajectory planner module provides a first trajectory to a trajectory control module. The trajectory control module determines parameters of the first trajectory. The trajectory control module compares the parameters to a respective threshold value. The trajectory control module obtains one or more alternative trajectories, determines parameters of each alternative trajectory, and compares the parameters of the alternative trajectory to a respective threshold value. The trajectory control module selects a trajectory for controlling the autonomous vehicle that has parameters which are within a range defined by the threshold values and controls the autonomous vehicle based on the selected trajectory. Thus, before handing back control to a driver, the trajectory control module selects from alternate trajectories for controlling the autonomous vehicle.