Holistic planning with multiple intentions for self-driving cars
AssigneeQUALCOMM Incorporated
InventorsZhaoyang Lv, Aliakbar Aghamohammadi
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Abstract
Aspects of the disclosure are related to a method, apparatus and system for joint motion planning and trajectory estimation, comprising: determining a cost function to describe system kinematics comprising trajectories, speeds, and accelerations of a host vehicle and of one or more other vehicles for each possible intention of the host vehicle and of the other vehicles, wherein the trajectories are described with spline functions; and determining jointly the trajectories of the host vehicle and of the other vehicles.
Claims22
A method for joint motion planning and trajectory estimation, comprising:
- sensing, by one or more sensors of a host vehicle, whether one or more other vehicles are in the vicinity of the host vehicle;
- determining a cost function to describe system kinematics comprising trajectories, speeds, and accelerations of the host vehicle and of the one or more other vehicles in the vicinity of the host vehicle for each possible intention of the host vehicle and of the other vehicles in the vicinity of the host vehicle, wherein the trajectories are described with spline functions;
- determining jointly the trajectories of the host vehicle and of the other vehicles in the vicinity of the host vehicle;
- and
- generating control signals for the host vehicle based on the determined trajectories of the host vehicle and of the other vehicles in the vicinity of the host vehicle, wherein the control signals are used to minimize accumulated speed change.
A host vehicle apparatus for joint motion planning and trajectory estimation, comprising:
- one or more sensors configured to detect road and vehicle parameters, including whether one or more other vehicles are in the vicinity of a host vehicle;
- a memory configured to store code and data;
- and
- a processor coupled to the memory, the processor configured to:
- determine a cost function to describe system kinematics comprising trajectories, speeds, and accelerations of the host vehicle and of the one or more other vehicles in the vicinity of the host vehicle for each possible intention of the host vehicle and of the other vehicles in the vicinity of the host vehicle, wherein the trajectories are described with spline functions;
- determine jointly the trajectories of the host vehicle and of the other vehicles in the vicinity of the host vehicle;
- and
- generate control signals for the host vehicle based on the determined trajectories of the host vehicle and other vehicles within the vicinity of the host vehicle, wherein the control signals minimize accumulated speed change.
An apparatus for joint motion planning and trajectory estimation, comprising:
- means for sensing, by one or more sensors of a host vehicle, whether one or more other vehicles are in the vicinity of the host vehicle;
- means for determining a cost function to describe system kinematics comprising trajectories, speeds, and accelerations of the host vehicle and of one or more other vehicles in the vicinity of the host vehicle for each possible intention of the host vehicle and of the other vehicles in the vicinity of the host vehicle, wherein the trajectories are described with spline functions;
- means for determining jointly the trajectories of the host vehicle and of the other vehicles in the vicinity of the host vehicle;
- and
- means for generating control signals for the host vehicle based on the determined trajectories of the host vehicle and other vehicles within the vicinity of the host vehicle, wherein the control signals minimize accumulated speed change.
A non-transitory computer-readable medium comprising code which, when executed by a processor, causes the processor to perform a method, comprising:
- sensing, by one or more sensors of a host vehicle, whether one or more other vehicles are in the vicinity of the host vehicle;
- determining a cost function to describe system kinematics comprising trajectories, speeds, and accelerations of the host vehicle and of one or more other vehicles in the vicinity of the host vehicle for each possible intention of the host vehicle and of the other vehicles in the vicinity of the host vehicle, wherein the trajectories are described with spline functions;
- determining jointly the trajectories of the host vehicle and of the other vehicles in the vicinity of the host vehicle;
- and
- generating control signals for the host vehicle based on the determined trajectories of the host vehicle and other vehicles within the vicinity of the host vehicle, wherein the control signals minimize accumulated speed change.
Dependencies are inferred from the claim text.