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US 11,987,247 B2Granted
Scenario-based motion planning and control for coasting
AssigneePlusAI, Inc.
InventorsHyoungju Seo, Chaozhe He, Xiaoyu Huang, Lichun Yang, Robert Joseph Dingli
Life of this patent
Estimating the term…
Abstract
Methods, systems, and non-transitory computer-readable media estimate coasting behavior of a vehicle; identify a scenario associated with coasting in an environment of the vehicle; and based in part on the coasting behavior, generate a trajectory associated with coasting for the vehicle to move in the scenario.
Claims20
A computer-implemented method comprising:
- estimating, by a computing system, coasting behavior of a vehicle;
- identifying, by the computing system, a scenario associated with coasting in an environment of the vehicle;
- based in part on the coasting behavior, generating, by the computing system, a trajectory associated with coasting for the vehicle to move in the scenario;
- performing, by the computing system, a safety check on the coasting behavior, wherein the safety check comprises a first part associated with comparison of selected boundary values of coasting acceleration and a value of estimated coasting acceleration, wherein the selected boundary values of coasting acceleration include an upper bound value and a lower bound value of coasting acceleration values reflecting a feature of the environment, and wherein the coasting is associated with application of zero throttle while the vehicle is in gear;
- providing, by the computing system, control signals to actuator subsystems of the vehicle to perform coasting by the vehicle;
- and
- controlling, by the computing system, the vehicle to perform coasting in the scenario based on the control signals provided to the actuator subsystems.
4 more elements
A system comprising:
- at least one processor;
- and
- a memory storing instructions that, when executed by the at least one processor, cause the system to perform operations comprising:
- estimating coasting behavior of a vehicle;
- identifying a scenario associated with coasting in an environment of the vehicle;
- based in part on the coasting behavior, generating a trajectory associated with coasting for the vehicle to move in the scenario;
- performing a safety check on the coasting behavior, wherein the safety check comprises a first part associated with comparison of selected boundary values of coasting acceleration and a value of estimated coasting acceleration, wherein the selected boundary values of coasting acceleration include an upper bound value and a lower bound value of coasting acceleration values reflecting a feature of the environment, and wherein the coasting is associated with application of zero throttle while the vehicle is in gear;
- providing control signals to actuator subsystems of the vehicle to perform coasting by the vehicle;
- and
- controlling the vehicle to perform coasting in the scenario based on the control signals provided to the actuator subsystems.
7 more elements
A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform operations comprising:
- estimating coasting behavior of a vehicle;
- identifying a scenario associated with coasting in an environment of the vehicle;
- based in part on the coasting behavior, generating a trajectory associated with coasting for the vehicle to move in the scenario;
- performing a safety check on the coasting behavior, wherein the safety check comprises a first part associated with comparison of selected boundary values of coasting acceleration and a value of estimated coasting acceleration, wherein the selected boundary values of coasting acceleration include an upper bound value and a lower bound value of coasting acceleration values reflecting a feature of the environment, and wherein the coasting is associated with application of zero throttle while the vehicle is in gear;
- providing control signals to actuator subsystems of the vehicle to perform coasting by the vehicle;
- and
- controlling the vehicle to perform coasting in the scenario based on the control signals provided to the actuator subsystems.
4 more elements
Dependencies are inferred from the claim text.