Systems and methods for trajectory determination using periodic verification of vehicle control parameters
AssigneesConstructor Technology AG, Constructor Education and Research Genossenschaft
InventorsMaksim FILIPENKO, Aleksandr BUYVAL, Ruslan MUSTAFIN, Ilya SHIMCHIK, Serg BELL, Stanislav PROTASOV, Nikolay DOBROVOLSKIY
Life of this patent
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Abstract
A multi-layer path-planning system and method calculates trajectories for autonomous vehicles using a global planner, a fast local planner, and an optimizing local planner. The calculated trajectories are used to guide the autonomous vehicle along a bounded path between a starting point and a destination.
Claims18
A method for planning a safe trajectory for an autonomous vehicle, the method comprising:
- receiving both a route for the autonomous vehicle from a current location to a finishing location, and a driving passage along the route;
- periodically verifying a set of vehicle control parameters as the autonomous vehicle navigates through the route, wherein a subset of the vehicle control parameters are verified less periodically than a remainder of the vehicle control parameters;
- determining a local trajectory relative to the driving passage based on the set of vehicle control parameters;
- and
- transmitting the local trajectory to a vehicle control system of the autonomous vehicle.
A system for planning a safe trajectory for an autonomous vehicle, the system comprising:
- a transmitter;
- and
- a processor coupled with a non-transitory storage medium and configured to:
- receive both a route for the autonomous vehicle from a current location to a finishing location, and a driving passage along the route;
- periodically verify a set of vehicle control parameters as the autonomous vehicle navigates through the route, wherein a subset of the vehicle control parameters are verified less periodically than a remainder of the vehicle control parameters;
- determine a local trajectory relative to the driving passage based on the set of vehicle control parameters;
- and
- transmit, via the transmitter, the local trajectory to a vehicle control system of the autonomous vehicle.
Dependencies are inferred from the claim text.