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公开(公告)号：US20190220015A1
公开(公告)日：2019-07-18
申请号：US16058364
申请日：2018-08-08
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
CPC分类号： G05D1/0088 , B60W30/0953 , B60W30/0956 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2550/10 , G01C21/20 , G01C21/3453 , G05D1/0212 , G05D1/0214 , G05D1/0221 , G05D1/0223 , G05D2201/0213
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.
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公开(公告)号：US20190294170A1
公开(公告)日：2019-09-26
申请号：US15980264
申请日：2018-05-15
摘要： The present disclosure is directed to validating motion plans for autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan of an autonomous vehicle through an environment of the autonomous vehicle; receive data indicating one or more inputs utilized in generating the motion plan; and determine, based at least in part on the data indicating the motion plan and the data indicating the input(s), whether execution of the motion plan by the autonomous vehicle would violate one or more predetermined constraints applicable to motion plans for the autonomous vehicle.
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公开(公告)号：US20190220016A1
公开(公告)日：2019-07-18
申请号：US16058430
申请日：2018-08-08
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
CPC分类号： G05D1/0088 , B60W30/0953 , B60W30/0956 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2550/10 , G01C21/20 , G01C21/3453 , G05D1/0212 , G05D1/0214 , G05D1/0221 , G05D1/0223 , G05D2201/0213
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 constraint solver determines a multi-dimensional space for each phase of a plurality of different phases of a lane change maneuver. For each different phase, objects of interest interacting with first and second lanes of the nominal path can be determined and constraints can be respectively generated. A portion of the multi-dimensional space including corresponding constraints that applies to a respective timeframe associated with each phase can be determined. The respective portions of the multi-dimensional space including corresponding constraints for each phase of the plurality of different phases of the lane change maneuver can be combined to generate a multiplexed space through which a low-cost trajectory path can be determined.
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