US 2021/0229656 A1Published application

Trajectory modifications based on a collision zone

AssigneeZoox, Inc.

InventorVictoria Magdalena Dax

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Abstract

The described techniques relate to modifying a trajectory of a vehicle, such as an autonomous vehicle, based on an overlap area associated with an object in the environment. In examples, map data may be used, in part, to generate an initial trajectory for an autonomous vehicle to follow through an environment. In some cases, a yield trajectory may be generated based on detection of the object, and the autonomous vehicle may evaluate a cost function to determine whether to execute the yield or follow the initial trajectory. In a similar manner, the autonomous vehicle may determine a merge location of two lanes of a junction, and use the merge location to update extents of an overlap area to prevent the autonomous vehicle from blocking the junction and/or provide sufficient space to yield to the oncoming vehicle while merging.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more computer-readable media storing instructions that, when executed by the one or more processors, perform operations comprising:
receiving a first trajectory for an autonomous vehicle to follow through an environment;
detecting, from sensor data, an object in the environment;
determining a second trajectory for the object, the second trajectory comprising a prediction of a path that the object will follow;
determining an overlap area in the environment based at least in part on a first area associated with the autonomous vehicle following the first trajectory and the second trajectory;
determining that a yield performed by the autonomous vehicle will block the second trajectory of the object, wherein the yield comprises instructions to cause the autonomous vehicle to at least one of slow down or stop until the object passes by the autonomous vehicle;
determining, based at least in part on determining that the yield performed by the autonomous vehicle will block the second trajectory of the object, a cost by evaluating a cost function for whether the autonomous vehicle should proceed along the first trajectory or perform the yield to the object, the cost based at least in part on the overlap area;
and
controlling the autonomous vehicle to proceed along the first trajectory and override the yield based at least in part on the cost.

8 more elements

A method comprising:

receiving a first trajectory for a vehicle to follow through an environment;
determining a second trajectory of an object in the environment, the second trajectory being a prediction of a path that the object will follow;
determining a yield to be performed by the vehicle based at least in part on the second trajectory of the object;
determining whether to cause the vehicle to execute the first trajectory or perform the yield based at least in part on:
determining an overlap area in the environment based at least in part on a first area associated with the vehicle following the first trajectory and the second trajectory;
and
determining, based at least in part on the overlap area, a cost associated with performing the yield;
and
controlling the vehicle to proceed along the first trajectory based at least in part on the cost.

6 more elements

One or more computer-readable media storing instructions that, when executed by one or more processors, perform operations comprising:

receiving a first trajectory for a vehicle to follow through an environment;
determining a second trajectory of an object in the environment, the second trajectory being a prediction of a path that the object will follow;
determining a yield to be performed by the vehicle based at least in part on the second trajectory of the object;
determining whether to cause the vehicle to execute the first trajectory or perform the yield based at least in part on:
determining an overlap area in the environment based at least in part on a first area associated with the vehicle following the first trajectory and the second trajectory;
and
determining a cost associated with performing the yield, the cost based at least in part on the overlap area;
and
controlling the vehicle to based at least in part on the cost.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/663,185Filed 24 Oct 2019
Published: 29 Jul 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification18 codes

B60W 30/09
Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences: taking automatic action…
G08G 1/096811
Where the transmitted instructions are used to compute a route: where the route is computed offboard
B60W 30/0956
Predicting travel path or likelihood of collision: the prediction being responsive to traffic or environmental parameters
B60W 30/18154
Related to particular drive situations: approaching an intersection