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公开(公告)号：US20250136152A1
公开(公告)日：2025-05-01
申请号：US18494234
申请日：2023-10-25
Applicant: GM Global Technology Operations LLC
Inventor： Daniel Aguilar Marsillach , Rouhollah Sayed Jafari
IPC: B60W60/00
Abstract: A method for predicting an actor occupancy corridor includes receiving input data, predicting an occupancy sets of the actor using reachability analysis and the input data, determining an occupancy corridor constraints of the actor using a machine learning model and the input data, and determining an occupancy corridor of the actor using the occupancy corridor constraints of the actor using the machine learning model and the occupancy sets of the actor using a reachability analysis. Moreover, the method includes controlling the movement of a host vehicle based on the occupancy corridor of the actor.
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2.发明公开公开(公告)号：US20240132104A1
公开(公告)日：2024-04-25
申请号：US17938192
申请日：2022-10-05
Applicant: GM Global Technology Operations LLC
Inventor： Daniel Aguilar Marsillach , Yubiao Zhang , Upali P. Mudalige
CPC classification number: B60W60/0015 , B60W50/0098 , B60W60/0013 , B60W2050/0026 , B60W2555/60 , B60W2556/45
Abstract: A trajectory planning system for an autonomous vehicle includes one or more controllers in electronic communication with one or more external vehicle networks that collect data with respect to one or more moving obstacles located in an environment surrounding the autonomous vehicle. The one or more controllers determine, based on the discrete-time relative vehicle state, a position avoidance set representing relative lateral positions and longitudinal positions that the autonomous vehicle avoids while bypassing the one or more moving obstacles when performing a maneuver. The one or more controllers select a trajectory from the plurality of relative state trajectories for the autonomous vehicle, where the autonomous vehicle follows the trajectory while performing the maneuver.
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3.发明公开公开(公告)号：US20240132103A1
公开(公告)日：2024-04-25
申请号：US17938146
申请日：2022-10-05
Applicant: GM Global Technology Operations LLC
Inventor： Daniel Aguilar Marsillach , Upali P. Mudalige
CPC classification number: B60W60/0015 , B60W40/09 , B60W2540/30 , B60W2554/4049
Abstract: A trajectory planning system for an autonomous vehicle includes one or more controllers in electronic communication with one or more external vehicle networks that collect data with respect to one or more moving obstacles located in an environment surrounding the autonomous vehicle. The one or more controllers approximate a set of real-time ego states of the autonomous vehicle by a function approximator, where the function approximator has been trained during a supervised learning process with the set of offline ego states as a ground-truth dataset. The one or more controllers compute a plurality of relative state trajectories for the autonomous vehicle, where the plurality of relative state trajectories avoid intersecting the set of real-time ego states of autonomous vehicle. The one or more controllers select a trajectory from the plurality of relative state trajectories for the autonomous vehicle, where the autonomous vehicle follows the trajectory while performing the maneuver.
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公开(公告)号：US12280798B2
公开(公告)日：2025-04-22
申请号：US18153623
申请日：2023-01-12
Applicant: GM Global Technology Operations LLC
Abstract: A system and method for trajectory planning selects a trajectory from a plurality of candidate trajectories to direct an autonomous vehicle. The system includes a controller in communication with a global positioning system (GPS) and at least one sensor. The GPS receives a plurality of global scene information. The at least one sensor collects local scene information. The controller is programmed to receive global scene information and local scene information, identify the location of the occluding obstacle. Additionally, the controller is programmed to determine an occluded portion of the roadway, identify a location of the scene actors on the roadway, and calculate a contracted occluded portion within the occluded portion. Furthermore, the system generates candidate trajectories for the autonomous vehicle to travel along, score the candidate trajectories, and select one of the candidate trajectories based on the assigned score.
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Patent Agency Ranking
公开(公告)号：US12291237B2
公开(公告)日：2025-05-06
申请号：US17938192
申请日：2022-10-05
Applicant: GM Global Technology Operations LLC
Inventor： Daniel Aguilar Marsillach , Yubiao Zhang , Upali P. Mudalige
Abstract: A trajectory planning system for an autonomous vehicle includes one or more controllers in electronic communication with one or more external vehicle networks that collect data with respect to one or more moving obstacles located in an environment surrounding the autonomous vehicle. The one or more controllers determine, based on the discrete-time relative vehicle state, a position avoidance set representing relative lateral positions and longitudinal positions that the autonomous vehicle avoids while bypassing the one or more moving obstacles when performing a maneuver. The one or more controllers select a trajectory from the plurality of relative state trajectories for the autonomous vehicle, where the autonomous vehicle follows the trajectory while performing the maneuver.
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公开(公告)号：US12157493B2
公开(公告)日：2024-12-03
申请号：US18063354
申请日：2022-12-08
Applicant: GM Global Technology Operations LLC
Abstract: A vehicle trajectory planning system includes a perception system of a host vehicle collecting information from multiple sources and communicating with a computer. A fusion module fuses scene information from a map and perception items identified by the perception system. A behavior planning module receives an output of the fusion module and produces a host vehicle baseline trajectory. A trajectory and motion planning module receives an output of the fusion module in parallel with the behavior planning module. The trajectory and motion planning module determines a reference trajectory and operation corridor for a host vehicle. A disturbance and reachability refiner module receives an output of the trajectory and motion planning module including the reference trajectory and operation corridor. An algorithm is applied to adjust and re-plan the host vehicle baseline trajectory to be robust to a range of inclement weather conditions.
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公开(公告)号：US20240239373A1
公开(公告)日：2024-07-18
申请号：US18153623
申请日：2023-01-12
Applicant: GM Global Technology Operations LLC
CPC classification number: B60W60/0011 , G05D1/0088 , G05D1/0212 , G05D1/0238 , B60W2554/4045 , G05D2201/0213
Abstract: A system and method for trajectory planning selects a trajectory from a plurality of candidate trajectories to direct an autonomous vehicle. The system includes a controller in communication with a global positioning system (GPS) and at least one sensor. The GPS receives a plurality of global scene information. The at least one sensor collects local scene information. The controller is programmed to receive global scene information and local scene information, identify the location of the occluding obstacle. Additionally, the controller is programmed to determine an occluded portion of the roadway, identify a location of the scene actors on the roadway, and calculate a contracted occluded portion within the occluded portion. Furthermore, the system generates candidate trajectories for the autonomous vehicle to travel along, score the candidate trajectories, and select one of the candidate trajectories based on the assigned score.
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8.发明公开公开(公告)号：US20240227829A1
公开(公告)日：2024-07-11
申请号：US18152842
申请日：2023-01-11
Applicant: GM Global Technology Operations LLC
CPC classification number: B60W50/06 , B60W60/0013 , B60W60/0015 , B60W2520/10 , B60W2520/105 , B60W2552/05 , B60W2554/802 , B60W2555/20 , B60W2555/60
Abstract: A method of adaptively tuning parameters in action planning for automated driving of a vehicle to a destination is provided. The method comprises receiving sensor data from a vehicle sensor, lane data of a road plan to the destination, and a plurality of first hyperparameters in a reinforcement learning agent at an initial state and an initial timestamp. The reinforcement learning agent has a planning policy. The method comprises adjusting the plurality of first hyperparameters via the planning policy having at least one first activation function to define an output defining a plurality of second hyperparameters. The method comprises determining a baseline trajectory action based on a trajectory reward value at a final state and a final timestamp. The method comprises modifying the baseline trajectory action between the initial state and the final state to define a refined trajectory action and controlling the vehicle based on the refined trajectory action.
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公开(公告)号：US20240190458A1
公开(公告)日：2024-06-13
申请号：US18063354
申请日：2022-12-08
Applicant: GM Global Technology Operations LLC
CPC classification number: B60W60/001 , G06V10/80 , G06V20/56 , B60W2420/52 , B60W2555/20
Abstract: A vehicle trajectory planning system includes a perception system of a host vehicle collecting information from multiple sources and communicating with a computer. A fusion module fuses scene information from a map and perception items identified by the perception system. A behavior planning module receives an output of the fusion module and produces a host vehicle baseline trajectory. A trajectory and motion planning module receives an output of the fusion module in parallel with the behavior planning module. The trajectory and motion planning module determines a reference trajectory and operation corridor for a host vehicle. A disturbance and reachability refiner module receives an output of the trajectory and motion planning module including the reference trajectory and operation corridor. An algorithm is applied to adjust and re-plan the host vehicle baseline trajectory to be robust to a range of inclement weather conditions.
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