US 2020/0139959 A1Published application

Cost scaling in trajectory generation

AssigneeZoox, Inc.

InventorsAbishek Krishna Akella, Janek Hudecek

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Abstract

Techniques for generating trajectories and drivable areas for navigating a vehicle in an environment are discussed herein. The techniques can include receiving a reference trajectory representing an initial trajectory for a vehicle, such as an autonomous vehicle, to traverse the environment. Portions of the reference trajectory can be identified as corresponding to actions to navigate around a double-parked vehicle or to change lanes, for example. In some cases, a portion of the reference trajectory can be identified based on a proximity to an object in the environment. A weight can be associated with the portions of the reference trajectory, and the techniques can include evaluating a reference cost function at points of the reference trajectory based on the associated weights to generate a target trajectory. Further, the techniques can include controlling the autonomous vehicle to traverse the environment based at least in part on the target trajectory.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving a reference trajectory representing an initial path for an autonomous vehicle to traverse an environment;
determining a first portion of the reference trajectory;
determining a second portion of the reference trajectory that is separate from the first portion;
determining a first weight associated with a first reference cost to be evaluated at a first point associated with the first portion of the reference trajectory, wherein the first reference cost is associated with a first difference between the first point on the reference trajectory and a corresponding first point;
determining a second weight associated with a second reference cost to be evaluated at a second point associated with the second portion of the reference trajectory, wherein the second reference cost is associated with a second difference between the second point on the reference trajectory and a corresponding second point, wherein the second weight is larger than the first weight;
evaluating a reference cost function at the first point and the second point to generate a target trajectory comprising the corresponding first point and the corresponding second point;
and
controlling the autonomous vehicle to traverse the environment based at least in part on the target trajectory.

8 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/179,711Filed 2 Nov 2018
Published: 7 May 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification22 codes

B60W 30/025
Control of vehicle driving stability: related to comfort of drivers or passengers
B60W 60/001
Drive control systems specially adapted for autonomous road vehicles: planning or execution of driving tasks
B60W 60/0011
Planning or execution of driving tasks: involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
B60W 60/0013
Planning or execution of driving tasks: specially adapted for occupant comfort

Family

US 11,208,096 B2Related patent
US 2020/0139959 A1This patent

From the US filing history. Foreign family members aren’t listed.

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