Trajectory limiting for autonomous vehicles
AssigneeWaymo LLC
InventorsJared Russell, Jens-Steffen Gutmann, Ioan-Alexandru Sucan
Life of this patent
Estimating the term…
Abstract
Aspects of the disclosure provide a of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.
Claims20
A method of generating and following planned trajectories for an autonomous vehicle, the method comprising:
- determining a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination;
- determining a stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline;
- receiving sensor data identifying objects and their locations;
- generating a plurality of constraints based on the sensor data;
- and
- generating a planned trajectory using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.
A system for generating and following planned trajectories for an autonomous vehicle, the system comprising:
- a computing device including one or more processors configured to:
- determine a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination;
- determine a stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline;
- receive sensor data identifying objects and their locations;
- generate a plurality of constraints based on the sensor data;
- and
- generate a planned trajectory using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.
Dependencies are inferred from the claim text.