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US 12,735,064 B2Granted
Lateral controller for autonomous vehicles
AssigneeTORC Robotics, Inc.
InventorsNicolai Wengert, Florian Kuehnle
Life of this patent
Estimating the term…
Abstract
One or more processors of an autonomous vehicle can determine a surrogate trajectory for navigating the autonomous vehicle towards a target trajectory; generate a curvature target for the autonomous vehicle based on the surrogate trajectory, a lateral error, and a velocity of the autonomous vehicle, the curvature target defined in part by at least three points; and navigate the autonomous vehicle according to the curvature target.
Claims20
A method, comprising:
- determining, by one or more processors coupled to a non-transitory memory, a target trajectory in which to maintain an autonomous vehicle while traveling, the target trajectory corresponding to a desired actual travel path for the autonomous vehicle;
- identifying, by the one or more processors, a point along the target trajectory closest to a current position of the autonomous vehicle;
- determining, by the one or more processors, a lateral error is present between the current position of the autonomous vehicle and the point along the target trajectory closest to the current position of the autonomous vehicle;
- in response to determining the lateral error is present, determining, by the one or more processors, a surrogate trajectory for navigating the autonomous vehicle towards the determined target trajectory, the surrogate trajectory distinct at least in part from the target trajectory and including the point along the target trajectory closest to the current position of the autonomous vehicle;
- generating, by the one or more processors, a curvature target for the autonomous vehicle based on the surrogate trajectory, the lateral error, and a velocity of the autonomous vehicle, the curvature target defined in part by at least three points;
- and
- navigating, by the one or more processors, the autonomous vehicle according to the curvature target.
4 more elements
A system, comprising:
- one or more processors coupled to memory, the one or more processors configured to:
- determine a target trajectory in which to maintain an autonomous vehicle while traveling, the target trajectory corresponding to a desired actual travel path for the autonomous vehicle;
- identify a point along the target trajectory closest to a current position of the autonomous vehicle;
- determine a lateral error is present between the current position of the autonomous vehicle and the point along the target trajectory closest to the current position of the autonomous vehicle;
- in response to determining the lateral error is present, determine a surrogate trajectory for navigating the autonomous vehicle towards the determined target trajectory, the surrogate trajectory distinct at least in part from the target trajectory and including the point along the target trajectory closest to the current position of the autonomous vehicle;
- generate a curvature target for the autonomous vehicle based on the surrogate trajectory, a lateral error, and a velocity of the autonomous vehicle, the curvature target defined in part by at least three points;
- and
- navigate the autonomous vehicle according to the curvature target.
5 more elements
Dependencies are inferred from the claim text.