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.
Claims20
A method comprising:
- receiving, by one or more processors, environmental information obtained using a sensor of an autonomous vehicle;
- identifying a reference trajectory for the autonomous vehicle generated based on map information;
- monitoring, using one or more processors, a first trajectory of a first road vehicle, wherein the first trajectory comprises a collection of locations traveled by the first road vehicle;
- determining that the environmental information is inconsistent with the reference trajectory;
- and
- when the reference trajectory is determined to be inconsistent with the environmental information, controlling, using the one or more processors, the autonomous vehicle to follow the first trajectory of the first road vehicle.
A system comprising one or more processors configured to:
- receive environmental information obtained using a sensor of an autonomous vehicle;
- identify a reference trajectory;
- monitor a first trajectory of a first road vehicle, wherein the first trajectory comprises a collection of locations traveled by the first road vehicle;
- determine that the environmental information is inconsistent with the reference trajectory;
- and
- when the reference trajectory is determined to be inconsistent with the environmental information, control the autonomous vehicle to follow the first trajectory of the first road vehicle.
A non-transitory computer readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
- receiving environmental information obtained using a sensor of an autonomous vehicle;
- identifying a reference trajectory for the autonomous vehicle;
- monitoring, using one or more processors, a first trajectory of a first road vehicle, wherein the first trajectory comprises a collection of locations traveled by the first road vehicle;
- determining that the environmental information is inconsistent with the reference trajectory;
- and
- when the reference trajectory is determined to be inconsistent with the environmental information, controlling the autonomous vehicle to follow the first trajectory of the first road vehicle.
Dependencies are inferred from the claim text.