公开(公告)号：US11016493B2

公开(公告)日：2021-05-25

申请号：US16588689

申请日：2019-09-30

Applicant: X Development LLC

Inventor： Kevin Taylor

IPC: G05D1/02 ,  G05D1/00 ,  B62D1/00

Abstract: An example method includes determining a path to be followed by a vehicle through an environment. The path includes an ordered sequence of positions. The method also includes determining an intersection between a first object in the environment and a first area planned to be occupied by the vehicle while moving along the path and, in response, sequentially testing the ordered sequence of positions to identify a first ordinal position in the ordered sequence of positions, where the first ordinal position corresponds to a second area planned to be occupied by the vehicle while moving along the path, and where the second area is within a threshold distance of the first object. The method additionally includes trimming the path to remove (i) the first ordinal position and (ii) any positions subsequent thereto and causing the vehicle to stop at an end of the trimmed path.

公开(公告)号：US10466707B2

公开(公告)日：2019-11-05

申请号：US15851998

申请日：2017-12-22

Applicant: X Development LLC

Inventor： Kevin Taylor

IPC: G05D1/00 ,  G01S15/42 ,  G01S17/42 ,  G05D1/02

Abstract: An example method includes determining a path to be followed by a vehicle through an environment. The path includes an ordered sequence of positions. The method also includes determining an intersection between a first object in the environment and a first area planned to be occupied by the vehicle while moving along the path and, in response, sequentially testing the ordered sequence of positions to identify a first ordinal position in the ordered sequence of positions, where the first ordinal position corresponds to a second area planned to be occupied by the vehicle while moving along the path, and where the second area is within a threshold distance of the first object. The method further additionally includes trimming the path to remove (i) the first ordinal position and (ii) any positions subsequent thereto and causing the vehicle to stop at an end of the trimmed path.

公开(公告)号：US20200026301A1

公开(公告)日：2020-01-23

申请号：US16588689

申请日：2019-09-30

Applicant: X Development LLC

Inventor： Kevin Taylor

IPC: G05D1/02 ,  G05D1/00

Abstract: An example method includes determining a path to be followed by a vehicle through an environment. The path includes an ordered sequence of positions. The method also includes determining an intersection between a first object in the environment and a first area planned to be occupied by the vehicle while moving along the path and, in response, sequentially testing the ordered sequence of positions to identify a first ordinal position in the ordered sequence of positions, where the first ordinal position corresponds to a second area planned to be occupied by the vehicle while moving along the path, and where the second area is within a threshold distance of the first object. The method additionally includes trimming the path to remove (i) the first ordinal position and (ii) any positions subsequent thereto and causing the vehicle to stop at an end of the trimmed path.

公开(公告)号：US20190196480A1

公开(公告)日：2019-06-27

申请号：US15851998

申请日：2017-12-22

Applicant: X Development LLC

Inventor： Kevin Taylor

IPC: G05D1/02 ,  G05D1/00

Abstract: An example method includes determining a path to be followed by a vehicle through an environment. The path includes an ordered sequence of positions. The method also includes determining an intersection between a first object in the environment and a first area planned to be occupied by the vehicle while moving along the path and, in response, sequentially testing the ordered sequence of positions to identify a first ordinal position in the ordered sequence of positions, where the first ordinal position corresponds to a second area planned to be occupied by the vehicle while moving along the path, and where the second area is within a threshold distance of the first object. The method further additionally includes trimming the path to remove (i) the first ordinal position and (ii) any positions subsequent thereto and causing the vehicle to stop at an end of the trimmed path.