Multi-layered approach for path planning and its execution for autonomous cars
AssigneeConstructor Technology AG
InventorsMaksim Filipenko, Aleksandr Buyval, Ruslan Mustafin, Ilya Shimchik, Serg Bell, Stanislav Protasov, Nikolay Dobrovolskiy
Life of this patent
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Abstract
A multi-layer path-planning system and method calculates trajectories for autonomous vehicles using a global planner, a fast local planner, and an optimizing local planner. The calculated trajectories are used to guide the autonomous vehicle along a bounded path between a starting point and a destination.
Claims18
A method for planning a safe trajectory for an autonomous vehicle with a vehicle control system, comprising:
- determining a route for the autonomous vehicle from a current location to a finishing location, based on a first set of vehicle control parameters;
- periodically reading a second set of vehicle control parameters;
- determining a driving passage along the route that guarantees both a minimum time to reach the finishing location and driving safety, based on the second set of vehicle control parameters;
- periodically reading a third set of vehicle control parameters that comprises at least one of road grip, torque, engine revolutions-per-minute (RPM), air resistance, brake efficiency, steering angle, driving path control, tire pressure, engine temperature, and energy consumption;
- determining, for the autonomous vehicle, a local trajectory relative to the driving passage, based on the third set of vehicle control parameters;
- and
- transmitting the local trajectory to the vehicle control system.
A system for planning a safe trajectory for an autonomous vehicle with a vehicle control system, comprising:
- a transmitter;
- and
- a processor coupled with a non-transitory storage medium, wherein the processor is configured to:
- determine a route for the autonomous vehicle from a current location to a finishing location with a map data structure, based on a first set of vehicle control parameters;
- determine a driving passage along the route that guarantees both a minimum time to reach the finishing location and driving safety, based on a second set of vehicle control parameters;
- periodically read a third set of vehicle control parameters that comprises at least one of road grip, torque, engine revolutions-per-minute (RPM), air resistance, brake efficiency, steering angle, driving path control, tire pressure, engine temperature, and energy consumption;
- determine, for the autonomous vehicle, a local trajectory relative to the driving passage, based on the third set of vehicle control parameters;
- and
- send, using the transmitter, the local trajectory to the vehicle control system.
A method for planning a safe trajectory for an autonomous vehicle, the method comprising:
- receiving both a route for the autonomous vehicle from a current location to a finishing location, and a driving passage along the route;
- allocating, while the autonomous vehicle navigates through the route, resources to data that has a greatest effect on vehicle trajectory when:
- periodically reading a set of vehicle control parameters that comprises at least one of road grip, torque, engine revolutions-per-minute (RPM), air resistance, brake efficiency, steering angle, driving path control, tire pressure, engine temperature, and energy consumption;
- and
- determining a local trajectory relative to the driving passage based on the set of vehicle control parameters;
- and
- transmitting the local trajectory to a vehicle control system of the autonomous vehicle.
Dependencies are inferred from the claim text.