Iterative trajectory replanning for emergency obstacle avoidance
AssigneesToyota Research Institute, Inc., Toyota Jidosha Kabushiki Kaisha
InventorsJames A. Dallas, Michael Thompson, Yan Ming Goh, Avinash Balachandran
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Abstract
Systems and methods of trajectory planning for an autonomous vehicle are disclosed. Exemplary implementations may: determine a first trajectory plan for the vehicle traveling along a first spatial location at a first point in time, the first trajectory plan being a reference trajectory plan; compute an optimal sequence for the vehicle traveling along a second spatial location at a second point in time subsequent the first point in time; and calculate a second trajectory plan for the vehicle by updating the first trajectory plan with information from the computed optimal sequence.
Claims21
A method of trajectory planning for autonomous vehicles, comprising:
- determining a first trajectory plan for a vehicle traveling along a first spatial location at a first point in time, wherein the first trajectory plan is a reference trajectory plan;
- computing an optimal sequence for the vehicle traveling along a second spatial location at a second point in time subsequent the first point in time;
- identifying a conflict between the first trajectory plan and the second spatial location based on the second spatial location exceeding a track boundary of the first trajectory plan;
- calculating a second trajectory plan for the vehicle by updating the first trajectory plan with information from the computed optimal sequence to resolve the identified conflict;
- and
- engaging the vehicle's autonomous driving system to operate the vehicle in accordance with the second trajectory plan.
A vehicle control system for trajectory planning for autonomous vehicles, comprising:
- one or more processors;
- and
- a memory coupled to the processor to store instructions, which when executed by the one or more processors, cause the one or more processors to perform operations, the operations comprising:
- determining a first trajectory plan for a vehicle traveling along a first spatial location at a first point in time, wherein the first trajectory plan is a reference trajectory plan;
- computing an optimal sequence for the vehicle traveling along a second spatial location at a second point in time subsequent the first point in time;
- identifying a conflict between the first trajectory plan and the second spatial location based on the second spatial location exceeding a track boundary of the first trajectory plan;
- calculating a second trajectory plan for the vehicle by updating the first trajectory plan with information from the computed optimal sequence to resolve the identified conflict;
- and
- engaging the vehicle's autonomous driving system to operate the vehicle in accordance with the second trajectory plan.
A non-transitory machine-readable medium having instructions stored therein, which when executed by one or more processors, cause the one or more processors to perform operations, the operations comprising:
- determining a first trajectory plan for a vehicle traveling along a first spatial location at a first point in time, wherein the first trajectory plan is a reference trajectory plan;
- computing an optimal sequence for the vehicle traveling along a second spatial location at a second point in time subsequent the first point in time;
- identifying a conflict between the first trajectory plan and the second spatial location based on the second spatial location exceeding a track boundary of the first trajectory plan;
- calculating a second trajectory plan for the vehicle by updating the first trajectory plan with information from the computed optimal sequence to resolve the identified conflict;
- and
- engaging the vehicle's autonomous driving system to operate the vehicle in accordance with the second trajectory plan.
Dependencies are inferred from the claim text.