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US 11,378,955 B2Granted
Planning autonomous motion
AssigneeMotional AD LLC
InventorsAndrea Censi, Emilio Frazzoli, Hsun-Hsien Chang, Kostyantyn Slutskyy, Scott D. Pendleton
Life of this patent
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Abstract
Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.
Claims36
A method comprising:
- obtaining, using at least one processor, sensor data associated with an environment;
- obtaining, using the at least one processor, map data associated with the environment;
- identifying, using the at least one processor, a set of candidate trajectories for a vehicle to traverse through the environment based on the sensor data and map data, wherein each candidate trajectory comprises successive motion actions of the vehicle;
- for each candidate trajectory,
- evaluating, using the at least one processor, a cost of the candidate trajectory based on a comparison of the motion actions with strategic factors associated with strategic guidelines, wherein evaluating the cost includes using a cost function that comprises at least one deviation metric characterizing a degree of deviation of a particular motion action from a strategic guideline of a plurality of strategic guidelines, and wherein the plurality of strategic guidelines are logical expressions that are organized into priority groups, and evaluating the costs of the candidate trajectory comprises evaluating the costs of the candidate trajectory by iterating through the priority groups and computing the cost of the candidate trajectory for each priority group;
- identifying, using the at least one processor, a particular trajectory from the candidate trajectories based on the evaluated costs of the candidate trajectories;
- and
- operating, using a controller of the vehicle, the vehicle to traverse the particular trajectory in the environment.
5 more elements
A system comprising:
- one or more sensors;
- one or more functional devices configured to receive and act on commands for controlling motion of the system;
- a guideline processor configured to:
- obtain, using the one or more sensors, sensor data associated with an environment in which the system is operating;
- obtain map data associated with the environment;
- identify a set of candidate trajectories for a vehicle to traverse through the environment based on the sensor data and map data, wherein each candidate trajectory comprises successive motion actions of the system;
- for each candidate trajectory,
- evaluating a cost of the candidate trajectory based on a comparison of the motion actions with strategic factors associated with strategic guidelines, wherein evaluating the cost includes using a cost function that comprises at least one deviation metric characterizing a degree of deviation of a particular motion action from a strategic guideline of a plurality of strategic guidelines of, and wherein the plurality of strategic guidelines are logical expressions that are organized into priority groups, and evaluating the costs of the candidate trajectory comprises evaluating the costs of the candidate trajectory by iterating through the priority groups and computing the cost of the candidate trajectory for each priority group;
- and
- identify a particular trajectory from the candidate trajectories based on the evaluated costs of the candidate trajectories;
- and
- traverse the particular trajectory in the environment.
9 more elements
Dependencies are inferred from the claim text.