# US 12,594,964 B2 · Method of and system for generating reference path of self driving car (SDC) > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,964 B2 - Document ID: US12594964B2 - Status: Granted - Kind: B2 - Application number: 17/126,888 - Filed: 2020-12-18 - Published: 2021-07-01 - Granted: 2026-04-07 - Earliest claimed: 2019-12-25 - Assignees: Direct Cursus Technology L.L.C - Applicants: Yandex Self Driving Group LLC - Inventors: Pavel Sergeevich Hud - Web page: https://patentgrep.com/patent/US12594964B2 ## CPC - B60W 60/0015: {specially adapted for safety} - G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries} - G01C 21/3492: {employing speed data or traffic data, e.g. real-time or historical (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/10: Historical data - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method and device for amending a reference path associated with a vehicle are disclosed. The method includes: (i) acquiring road segment data and reference path data, the reference path data having a plurality of anchor points defining the reference path along the road segment, (ii) using the road segment data and the reference path data to determine a safe deviation interval for each one of the plurality of anchor points, a given safe deviation interval for a given anchor point being indicative of an acceptable deviation of the vehicle from the reference path; and (iii) using the safe deviation intervals to determine an amended path for the vehicle instead of the reference path, such that by following the amended path the vehicle falls within the constraints of the road segment. ## Claims ### Claim 1 A computer-implemented method of amending a reference path associated with a vehicle, the reference path being a path along a road segment that the vehicle is estimated to follow, the method comprising: acquiring road segment data and reference path data, the road segment data being indicative of constraints of the road segment, and the reference path data having a plurality of anchor points defining the reference path along the road segment; using the road segment data and the reference path data to determine a respective safe deviation interval for each one of the plurality of anchor points, by: generating a simulated representation of the vehicle for a respective anchor point from the plurality of anchor points on a simulated representation of the road segment, the generating comprising: generating a bounding box occupying a substantially same area on the simulated representation of the road segment as a surface occupied by the vehicle: generating a simulated representation of a rear axle of the vehicle within the bounding box; determining a rotation axis of the vehicle as an axis extending through a midpoint of the simulated representation of the rear axle in the bounding box, the rotation axis extending upwardly and perpendicular to a ground surface on which the vehicle is travelling; rotating, at each one of the plurality of anchor points, the bounding box around the rotation axis by a pre-determined angle to generate an enlarged projection of the vehicle onto the road segment; determining the simulated representation of the vehicle as the enlarged projection thereof; and determining the respective safe deviation intervals of the respective anchor points from the plurality of anchor points based on the simulated representation of the vehicle on the simulated representation of the road segment, a given safe deviation interval for the respective anchor point of the plurality of anchor points being an interval within which the respective anchor point is to be located in order for the vehicle to fall within the constraints of the road segment when passing the respective anchor point; determining whether any anchor points of the plurality of anchor points fall outside of the respective safe deviation intervals; in response to determining that one or more anchor points of the plurality of anchor points fall outside of their respective safe deviation intervals: moving each of the one or more anchor points that fall outside of their respective safe deviation intervals to within their respective safe deviation interval; and generating an amended path as a path extending through the plurality of anchor points after the moving. ### Claim 2 (depends on 1) The method of claim 1, wherein the respective safe deviation intervals form a safe deviation corridor for the vehicle, the safe deviation corridor defining a section of the road segment in which the vehicle falls within the constraints of the road segment. ### Claim 3 (depends on 2) The method of claim 2, wherein the amended path falls within the safe deviation corridor. ### Claim 4 (depends on 1) The method of claim 1, wherein the constraints comprise at least one of (i) physical constraints on the road segment, and (ii) road rule constraints on the road segment. ### Claim 5 (depends on 1) The method of claim 1, wherein the method is executed by an electronic device that is associated with a Self-Driving Car (SDC). ### Claim 6 (depends on 1) The method of claim 1, wherein the moving the one or more anchor points that fall outside the respective safe deviation intervals comprises moving the one or more anchor points to respective midpoints of the respective safe deviation intervals. ### Claim 7 (depends on 1) The method of claim 1, wherein the method further comprises generating the reference path. ### Claim 8 (depends on 5) The method of claim 5, wherein the SDC is different from the vehicle, and wherein the method further comprises generating the reference path by: accessing a database of historical maneuvers associated with the vehicle and generating a prediction of the reference path. ### Claim 9 (depends on 5) The method of claim 5, wherein the SDC is located in proximity to the vehicle on the road segment. ### Claim 10 (depends on 9) The method of claim 9, wherein the method further comprises: using the amended path of the vehicle for modifying a current path of the SDC along the road segment. ### Claim 11 (depends on 1) The method of claim 1, wherein the simulated representation of the vehicle covers an artificially increased surface on the simulated representation of the road segment, the artificially increased surface being larger than an actual surface that the vehicle covers of the road segment. ### Claim 12 (depends on 1) The method of claim 1, wherein the generating the amended path comprises: determining amended anchor points for the respective safe deviation intervals, such that a given amended anchor point falls within the respective safe deviation interval; and determining, by the electronic device the amended path as being a sequence of the amended anchor points. ### Claim 13 (depends on 12) The method of claim 12, wherein the given amended anchor point corresponds to a midpoint of the respective safe interval. ### Claim 14 (depends on 12) The method of claim 12, wherein the sequence of the amended anchor points comprises a polyline. ### Claim 15 (depends on 1) The method of claim 1, further comprising defining the plurality of anchor points. ### Claim 16 (depends on 15) The method of claim 15, wherein the defining is based on at least a velocity of the vehicle. ### Claim 17 An electronic device for amending a reference path associated with a vehicle, the reference path being a path along a road segment that the vehicle is estimated to follow, the electronic device comprising at least one processor and at least one non-transitory computer-readable memory storing executable instructions, which, when executed by the at least one processor, cause the electronic device to: acquire road segment data and reference path data, the road segment data being indicative of constraints of the road segment, the reference path data having a plurality of anchor points defining the reference path along the road segment; use the road segment data and the reference path data to determine a respective safe deviation interval for each one of the plurality of anchor points, by: generating a simulated representation of the vehicle for a respective anchor point from the plurality of anchor points on a simulated representation of the road segment, the generating comprising: generating a bounding box occupying a substantially same area on the simulated representation of the road segment as a surface occupied by the vehicle; generating a simulated representation of a rear axle of the vehicle within the bounding box; determining a rotation axis of the vehicle as an axis extending through a midpoint of the simulated representation of the rear axle in the bounding box, the rotation axis extending upwardly and perpendicular to a ground surface on which the vehicle is travelling: rotating, at each one of the plurality of anchor points, the bounding box around the rotation axis by a pre-determined angle to generate an enlarged projection of the vehicle onto the road segment; determining the simulated representation of the vehicle as the enlarged projection thereof; and determining the respective safe deviation intervals of the respective anchor points from the plurality of anchor points based on the simulated representation of the vehicle on the simulated representation of the road segment, a given safe deviation interval for the respective anchor point of the plurality of anchor points being an interval within which the respective anchor point is to be located in order for the vehicle to fall within the constraints of the road segment when passing the respective anchor point; determine whether any anchor points of the plurality of anchor points fall outside of the respective safe deviation intervals; in response to determining that one or more anchor points of the plurality of anchor points fall outside of their respective safe deviation intervals: move each of the one or more anchor points that fall outside of their respective safe deviation intervals to within their respective safe deviation interval; and generate an amended path as a path extending through the plurality of anchor points after the moving.