Autonomous vehicle yielding
AssigneeMotional AD LLC
InventorsNoushin MEHDIPOUR, Ji Hyun JEONG, Amitai Y. BIN-NUN, Paul SCHMITT, Radboud Duintjer TEBBENS
Life of this patent
Estimating the term…
Abstract
Provided are methods for autonomous vehicle yielding, which can include obtaining sensor data associated with an environment and obtaining a rule indicative of a target expressive operation. Some methods described also include determining whether the sensor data meets a first criterion, applying the rule in response to the sensor data meeting the first criterion, evaluating a first trajectory of the autonomous vehicle, and selecting a second trajectory. Systems and computer program products are also provided.
Claims20
A method comprising:
- obtaining, using at least one processor, sensor data associated with an environment in which an autonomous vehicle operates according to a first trajectory of a plurality of trajectories, the environment comprising a road user at a location;
- obtaining, using the at least one processor, a rule indicative of a target expressive operation of the autonomous vehicle in proximity of the road user, the rule comprising a first criterion for initiation of application of the rule, and a second criterion;
- determining, using the at least one processor, whether the sensor data meets the first criterion,
- in response to the sensor data meeting the first criterion, applying the rule;
- wherein applying the rule comprises:
- determining, using the at least one processor, based on the sensor data and the second criterion, a violation metric;
- evaluating, using the at least one processor, based on the violation metric, the first trajectory of the autonomous vehicle;
- and
- selecting, using the at least one processor, based on the violation metric, a second trajectory from the plurality of trajectories.
A system comprising:
- at least one processor;
- and
- at least one non-transitory computer readable medium storing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations comprising:
- obtain, using at least one processor, sensor data associated with an environment in which an autonomous vehicle operates according to a first trajectory of a plurality of trajectories, the environment comprising a road user at a location;
- obtain, using the at least one processor, a rule indicative of a target expressive operation of the autonomous vehicle in proximity of the road user, the rule comprising a first criterion for initiation of application of the rule, and a second criterion;
- determine, using the at least one processor, whether the sensor data meets the first criterion,
- in response to the sensor data meeting the first criterion, apply the rule;
- wherein to apply the rule comprises to determine, using the at least one processor, based on the sensor data and the second criterion, a violation;
- evaluate, using the at least one processor, based on the violation metric, the first trajectory of the autonomous vehicle;
- and
- select, using the at least one processor, based on the violation metric, a second trajectory from the plurality of trajectories.
A non-transitory computer readable medium comprising instructions stores thereon that, when executed by at least one processor, cause the at least one processor to carry out operations comprising:
- obtaining, using at least one processor, sensor data associated with an environment in which an autonomous vehicle operates according to a first trajectory of a plurality of trajectories, the environment comprising a road user at a location;
- obtaining, using the at least one processor, a rule indicative of a target expressive operation of the autonomous vehicle in proximity of the road user, the rule comprising a first criterion for initiation of application of the rule, and a second criterion;
- determining, using the at least one processor, whether the sensor data meets the first criterion,
- in response to the sensor data meeting the first criterion, applying the rule;
- wherein applying the rule comprises determining, using the at least one processor, based on the sensor data and the second criterion, a violation metric;
- evaluating, using the at least one processor, based on the violation metric, the first trajectory of the autonomous vehicle;
- and
- selecting, using the at least one processor, based on the violation metric, a second trajectory from the plurality of trajectories.
Dependencies are inferred from the claim text.