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US 2019/0376807 A1Published application
Route Planning for an Autonomous Vehicle
AssigneenuTonomy Inc.
InventorKarl Iagnemma
Life of this patent
Estimating the term…
Abstract
Among other things, a determination is made of and ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. The route conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination is based on analysis of performance of the autonomous vehicle.
Claims20
One or more non-transitory computer-readable storage media storing instructions which, when executed by one or more processors, cause operations comprising:
- accessing data representing a plurality of road segments, wherein the plurality of road segments includes a road segment of a first type and a road segment of a second type that is different from the first type;
- identifying two or more candidate routes that can be traveled by a vehicle from a starting position to a goal position, wherein each of the two or more candidate routes comprise a respective sequence of connected road segments of the plurality of road segments;
- retrieving, for a first route of the two or more candidate routes, a first data set associated with a first sequence of connected road segments of the first route;
- determining, based on data in the first data set, that the first sequence includes the road segment of the first type and one or more road segments of the second type;
- determining whether the vehicle is capable of traversing the road segment of the first type based on a level of performance of a motion planning process of the vehicle were the vehicle to travel on the segment of the first sequence;
- determining, based on the performance of the motion planning process, that the vehicle is not capable of traversing the road segment of the first type;
- in accordance with a determination that the vehicle is not capable of traversing the road segment of the first type, eliminating the first route from consideration as a candidate route;
- selecting a second route from remaining routes of the two or more candidate routes;
- and
- causing a control circuit to operate the vehicle according to the selected second route.
7 more elements
A computer-implemented method comprising:
- accessing data representing a plurality of road segments, wherein the plurality of road segments includes a road segment of a first type and a road segment of a second type that is different from the first type;
- identifying two or more candidate routes that can be traveled by a vehicle from a starting position to a goal position, wherein each of the two or more candidate routes comprise a respective sequence of connected road segments of the plurality of road segments;
- retrieving, for a first route of the two or more candidate routes, a first data set associated with a first sequence of connected road segments of the first route;
- determining, based on data in the first data set, that the first sequence includes the road segment of the first type and one or more road segments of the second type;
- determining whether the vehicle is capable of traversing the road segment of the first type based on a level of performance of a motion planning process of the vehicle were the vehicle to travel on the segment of the first sequence;
- determining, based on the performance of the motion planning process, that the vehicle is not capable of traversing the road segment of the first type;
- in accordance with a determination that the vehicle is not capable of traversing the road segment of the first type, eliminating the first route from consideration as a candidate route;
- selecting a second route from remaining routes of the two or more candidate routes;
- and
- causing a control circuit to operate the vehicle according to the selected second route.
7 more elements
A system comprising:
- memory and
- one or more processors, the one or more processors configured to:
- access data representing a plurality of road segments, wherein the plurality of road segments includes a road segment of a first type and a road segment of a second type that is different from the first type;
- identify two or more candidate routes that can be traveled by a vehicle from a starting position to a goal position, wherein each of the two or more candidate routes comprise a respective sequence of connected road segments of the plurality of road segments;
- retrieve, for a first route of the two or more candidate routes, a first data set associated with a first sequence of connected road segments of the first route;
- determine, based on data in the first data set, that the first sequence includes the road segment of the first type and one or more road segments of the second type;
- determine whether the vehicle is capable of traversing the road segment of the first type based on a level of performance of a motion planning process of the vehicle were the vehicle to travel on the segment of the first sequence;
- determine, based on the performance of the motion planning process, that the vehicle is not capable of traversing the road segment of the first type;
- in accordance with a determination that the vehicle is not capable of traversing the road segment of the first type, eliminate the first route from consideration as a candidate route;
- select a second route from remaining routes of the two or more candidate routes;
- and
- cause a control circuit to operate the vehicle according to the selected second route.
9 more elements
Dependencies are inferred from the claim text.