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US 10,095,234 B2Granted
Planning for unknown objects by an autonomous vehicle
AssigneenuTonomy Inc.
InventorsEmilio Frazzoli, Baoxing Qin
Life of this patent
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Abstract
Among other things, a world model is maintained of an environment of a vehicle. A hypothetical object in the environment that cannot be perceived by sensors of the vehicle is included in the world model.
Claims58
An apparatus comprising:
- an autonomous vehicle comprising:
- a) steering, acceleration, deceleration, or gear selection devices or combinations of them configured to effect movement of the autonomous vehicle on a road network;
- and
- b) a computer having a processor to execute a process (i) to generate commands to the steering, acceleration, deceleration, or gear selection devices or combinations of them to move the autonomous vehicle in accordance with driving decisions;
- and (ii) to update the commands (a) in response to data representing motion characteristics of a hypothetical vehicle being driven on the road network and (b) based on discretized points of a lane that cannot be perceived by one or more sensors.
2 more elements
An apparatus comprising:
- an autonomous vehicle comprising:
- a) steering, acceleration, deceleration, or gear selection devices or combinations of them configured to effect movement of the autonomous vehicle on a road network;
- and
- b) a computer having a processor to execute a process (i) to generate commands to the steering, acceleration, deceleration, or gear selection devices or combinations of them to move the autonomous vehicle in accordance with driving decisions;
- and (ii) to update the commands (a) in response to data representing motion characteristics of a hypothetical vehicle being driven on the road network and (b) based on temporal filtering to determine a location of the hypothetical vehicle.
2 more elements
Dependencies are inferred from the claim text.