Approach for consolidating observed vehicle trajectories into a single representative trajectory
AssigneeWaymo LLC
InventorsDavid I. Ferguson, Jiajun Zhu
Life of this patent
Estimating the term…
Abstract
A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.
Claims22
A system for automatically controlling a road vehicle, the system comprising one or more processors configured to:
- monitor a first path of a first road vehicle, wherein the first path comprises a collection of locations traveled by the first road vehicle, a first location of the first path being in a first lane of a road and a second location of the first path being in a second lane adjacent to the first lane;
- monitor a second path of a second road vehicle, wherein the second path comprises a collection of locations traveled by the second road vehicle, a first location of the second path being in the first lane of the road and a second location of the second path being in the second lane;
- determine a third path based on the first path, the second path, and a discontinuity of at least one of the first path or the second path;
- and
- control the operation of a third road vehicle in accordance with the third path.
A method for automatically controlling a road vehicle, method comprising:
- determining, by one or more processors for a first observed path of a first road vehicle, a discontinuity of the first observed path;
- determining, by one or more processors for a second observed path of a second road vehicle, one or more reliability characteristics for the second observed path;
- determining, by the one or more processors, a third path based on the first observed path, the second observed path, the discontinuity for the first observed path, and the one or more reliability characteristics for the second observed path;
- and
- controlling, by the one or more processors, the operation of a third road vehicle in accordance with the third path.
A vehicle comprising:
- one or more sensors;
- one or more processors configured to:
- monitor a first path of a first road vehicle using data generated by the one or more sensors, wherein the first path comprises a collection of locations traveled by the first road vehicle, a first location of the first path being in a first lane of a road and a second location of the first path being in a second lane adjacent to the first lane;
- monitor a second path of a second road vehicle using the data generated by the one or more sensors, wherein the second path comprises a collection of locations traveled by the second road vehicle, a first location of the second path being in the first lane of the road and a second location of the second path being in the second lane;
- determine a third path based on the first path, the second path, and a discontinuity of at least one of the first path or the second path;
- and
- control the operation of the vehicle in accordance with the third path.
Dependencies are inferred from the claim text.