Systems And Methods for Gridlock Prevention
AssigneeMotional AD LLC
InventorsScott D. Pendleton, Titus Chua, Shu-Kai Lin
Life of this patent
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Abstract
Provided are methods for gridlock prevention, which can include obtaining sensor data, obtaining an intersection parameter, and determining a constraint. Some methods described also include generating trajectories and providing data associated with a selected trajectory, such as for operation of an autonomous vehicle along the 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 is operating, the sensor data generated by at least one sensor of an autonomous vehicle operating in the environment;
- obtaining, using the at least one processor, an intersection parameter indicative of an intersection boundary for an intersection located in the environment;
- determining, using the at least one processor, at least one constraint based on a state of the autonomous vehicle, the at least one constraint minimizing a likelihood that operation of the autonomous vehicle results in a gridlock state of the intersection;
- generating, using the at least one processor, a plurality of trajectories for operation of the autonomous vehicle;
- selecting, using the at least one processor, based on the at least one constraint, a trajectory of the plurality of trajectories, the trajectory minimizing the likelihood that operation of the autonomous vehicle results in the gridlock state;
- and
- providing, using the at least one processor, data associated with the trajectory, the data associated with the trajectory configured to cause operation of the autonomous vehicle along the trajectory.
A non-transitory computer readable medium comprising instructions stored thereon that, when executed by at least one processor, cause the at least one processor to carry out operations comprising:
- obtaining sensor data associated with an environment in which an autonomous vehicle is operating, the sensor data generated by at least one sensor of an autonomous vehicle operating in the environment;
- obtaining an intersection parameter indicative of an intersection boundary for an intersection located in the environment;
- determining, using the at least one processor, at least one constraint based on a state of the autonomous vehicle, the at least one constraint minimizing a likelihood that operation of the autonomous vehicle results in a gridlock state of the intersection;
- generating a plurality of trajectories for operation of the autonomous vehicle;
- selecting based on the at least one constraint, a trajectory of the plurality of trajectories, the trajectory minimizing the likelihood that operation of the autonomous vehicle results in the gridlock state;
- and
- providing data associated with the trajectory, the data associated with the trajectory configured to cause operation of the autonomous vehicle along the trajectory.
A system, comprising at least one processor, and at least one memory storing instructions thereon that, when executed by the at least one processor, cause the at least one processor to perform operations comprising:
- obtaining sensor data associated with an environment in which an autonomous vehicle is operating, the sensor data generated by at least one sensor of an autonomous vehicle operating in the environment;
- obtaining an intersection parameter indicative of an intersection boundary for an intersection located in the environment;
- determining, using the at least one processor, at least one constraint based on a state of the autonomous vehicle, the at least one constraint minimizing a likelihood that operation of the autonomous vehicle results in a gridlock state of the intersection;
- generating a plurality of trajectories for operation of the autonomous vehicle;
- selecting based on the at least one constraint, a trajectory of the plurality of trajectories, the trajectory minimizing the likelihood that operation of the autonomous vehicle results in the gridlock state;
- and
- providing data associated with the trajectory, the data associated with the trajectory configured to cause operation of the autonomous vehicle along the trajectory.
Dependencies are inferred from the claim text.