Constraint-based speed profile
AssigneeNissan North America, Inc.
InventorsDerek Lau, Christopher Ostafew
Life of this patent
Estimating the term…
Abstract
Determining a speed plan for an autonomous vehicle (AV) is disclosed. Planned locations of the AV for future time steps are placed in an occupancy grid. The planned locations are based on a strategic speed plan that is determined without taking world objects into account. Predicted locations of the world objects for at least some of the future time steps are placed in the occupancy grid. Respective buffer distances corresponding to the predicted locations are added in the occupancy grid. An estimated speed plan is identified for the AV based on the occupancy grid. The speed plan is obtained from the estimated speed plan. The AV is then controlled according to the speed plan.
Claims20
A method for determining a speed plan for an autonomous vehicle (AV), comprising:
- placing, for future time steps, planned locations of the AV in an occupancy grid, wherein the planned locations are based on a strategic speed plan that is determined without taking world objects into account;
- placing, for at least some of the future time steps, predicted locations of the world objects in the occupancy grid;
- adding respective buffer distances corresponding to the predicted locations in the occupancy grid;
- adding virtual predictions to the occupancy grid, wherein the virtual predictions include a predicted path of virtual lead vehicles or virtual world objects;
- obtaining an estimated speed plan for the AV based on the occupancy grid;
- obtaining the speed plan from the estimated speed plan;
- controlling the AV according to the speed plan;
- generating a tactical speed plan based upon an intersection with the virtual lead vehicles or the virtual world objects;
- and
- modifying the speed plan for a discrete time step based on the tactical speed plan until the virtual lead vehicles or the virtual world objects are removed from the occupancy grid.
An autonomous vehicle (AV), comprising:
- a memory;
- and
- a processor, the processor configured to execute instructions stored in the memory to determine a speed plan for the AV, the instructions comprise:
- placing, for future time steps, planned locations of the AV in an occupancy grid, wherein the planned locations are based on a strategic speed plan that is determined without taking world objects into account;
- placing, for at least some of the future time steps, predicted locations of the world objects in the occupancy grid;
- adding respective buffer distances corresponding to the predicted locations in the occupancy grid;
- adding virtual predictions to the occupancy grid, wherein the virtual predictions include a predicted path of virtual lead vehicles or virtual world objects;
- obtaining an estimated speed plan for the AV based on the occupancy grid;
- obtaining the speed plan from the estimated speed plan;
- controlling the AV according to the speed plan;
- generating a tactical speed plan, with an optimized speed plan tool (OSP), based upon an intersection with the virtual lead vehicles or the virtual world objects;
- and
- modifying the speed plan for a discrete time based on the tactical speed plan until the virtual lead vehicles or the virtual world objects are removed from the occupancy grid.
A non-transitory computer-readable medium storing instructions operable to cause one or more processors to perform operations for determining a speed plan for an autonomous vehicle (AV), the operations comprising:
- placing, for future time steps, planned locations of the AV in an occupancy grid, wherein the planned locations are based on a strategic speed plan that is determined without taking world objects into account;
- placing, for at least some of the future time steps, predicted locations of the world objects in the occupancy grid;
- adding respective buffer distances corresponding to the predicted locations in the occupancy grid;
- adding virtual predictions to the occupancy grid, wherein the virtual predictions include a predicted path of virtual lead vehicles or virtual world objects;
- obtaining an estimated speed plan for the AV based on the occupancy grid;
- obtaining the speed plan from the estimated speed plan;
- controlling the AV according to the speed plan;
- generating a tactical speed plan based upon an intersection with the virtual lead vehicles or the virtual world objects;
- and
- modifying the speed plan for a discrete time based on the tactical speed plan until the virtual lead vehicles or the virtual world objects are removed from the occupancy grid.
Dependencies are inferred from the claim text.