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US 10,377,375 B2Granted
Autonomous vehicle: modular architecture
AssigneesThe Charles Stark Draper Laboratory, Inc., Veoneer US, Inc.
InventorsTroy Jones, Scott Lennox, John Sgueglia, Jon Demerly, Nicholas Alexander Zervoglos, Hsin-Hsiang Yang
Life of this patent
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Abstract
An architecture for an autonomous vehicle uses a top-down approach to enable fully automated driving. The architecture is modular and compatible with hardware from different manufacturers. Each modular component can be tailored for individual cars, which have different vehicle control subsystems and different sensor subsystems.
Claims28
A method of operating an autonomous vehicle, the method comprising:
- determining, at an automated driving controller (ADC), one or more planned driving corridors that are predicted to be drivable by the vehicle and safely separated from surrounding vehicles and other objects;
- determining, at a vehicle controller (VC), based on the one or more planned driving corridors, one or more vehicle trajectories which are predicted to avoid collisions with the surrounding vehicles and other objects;
- selecting, at the VC, one of the determined trajectories as active based on criteria of collision likelihood;
- sending steering, throttle, and braking commands from the VC to one or more respective actuator controllers within the vehicle to follow the active trajectory.
1 more element
A system for operating an autonomous vehicle, the system comprising:
- an automated driving controller (ADC) configured to determine, one or more planned driving corridors that are predicted to be drivable by the vehicle and safely separated from surrounding vehicles and other objects;
- and
- a vehicle controller (VC) configured to:
- determine, based on the one or more planned driving corridors, one or more vehicle trajectories which are predicted to avoid collisions with the surrounding vehicles and other objects;
- select one of the determined trajectories as active based on criteria of collision likelihood;
- and
- send steering, throttle, and braking commands to one or more respective actuator controllers within the vehicle to follow the active trajectory.
4 more elements
Dependencies are inferred from the claim text.