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公开(公告)号：US20220119011A1
公开(公告)日：2022-04-21
申请号：US17071008
申请日：2020-10-15
Applicant: WAYMO LLC
Inventor： Dong Li , Tian Jin , Mingxiang Fan , Rajiv Kurian
Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.
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公开(公告)号：US20240317265A1
公开(公告)日：2024-09-26
申请号：US18734007
申请日：2024-06-05
Applicant: Waymo LLC
Inventor： Dong Li , Tian Jin , Mingxiang Fan , Rajiv Kurian
CPC classification number: B60W60/0016 , B60W60/00272 , B60W60/00276 , G08G1/16 , B60W2554/80
Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.
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公开(公告)号：US12037017B2
公开(公告)日：2024-07-16
申请号：US17071008
申请日：2020-10-15
Applicant: WAYMO LLC
Inventor： Dong Li , Tian Jin , Mingxiang Fan , Rajiv Kurian
CPC classification number: B60W60/0016 , B60W60/00272 , B60W60/00276 , G08G1/16 , B60W2554/80
Abstract: Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.
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