# US 2025/0083703 A1 · Systems and methods for trajectory determination using periodic verification of vehicle control parameters

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- Number: US 2025/0083703 A1
- Document ID: US20250083703A1
- Status: Published application
- Kind: A1
- Application number: 18/956,247
- Filed: 2024-11-22
- Published: 2025-03-13
- Earliest claimed: 2022-01-07
- Assignees: Constructor Technology AG; Constructor Education and Research Genossenschaft
- Applicants: Constructor Technology AG; Constructor Education and Research Genossenschaft
- Inventors: Maksim FILIPENKO; Aleksandr BUYVAL; Ruslan MUSTAFIN; Ilya SHIMCHIK; Serg BELL; Stanislav PROTASOV; Nikolay DOBROVOLSKIY
- Web page: https://patentgrep.com/patent/US20250083703A1

## CPC

- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- B60W 60/0015: {specially adapted for safety}
- B60W 60/0021: {specially adapted for travel time}
- G01C 21/3407: {specially adapted for specific applications}
- G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries}
- H04W 4/024: Guidance services
- H04W 4/029: Location-based management or tracking services
- H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2510/0638: Engine speed
- B60W 2510/0676: Engine temperature
- B60W 2510/18: Braking system
- B60W 2510/20: Steering systems
- B60W 2530/10: Weight
- B60W 2530/16: Driving resistance
- B60W 2530/20: Tyre data
- B60W 2552/00: Input parameters relating to infrastructure
- B60W 2552/40: Coefficient of friction
- B60W 2554/20: Static objects
- B60W 2556/40: High definition maps
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2556/65: Data transmitted between vehicles
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The method of claim 1, wherein the subset of the vehicle control parameters include vehicle attributes that do not change over time, and wherein the remainder of the vehicle control parameters include vehicle attributes that change frequently.

### Claim 3 (depends on 2)

The method of claim 2, wherein the remainder of the vehicle control parameters include road grip, torque, engine revolutions-per-minute (RPM), air resistance, brake efficiency, steering angle, driving path control, tire pressure, engine temperature, and energy consumption.

### Claim 4 (depends on 1)

The method of claim 1, wherein the set of vehicle control parameters include data from vehicle sensors assigned for obstacle detection, wherein the subset of the vehicle control parameters include sensor data capturing non-moving obstacles, and wherein the remainder of the vehicle control parameters include sensor data capturing moving obstacles.

### Claim 5 (depends on 1)

The method of claim 1, wherein the route is calculated according to a map data structure, and wherein the driving passage is calculated according to a vehicle-to-everything infrastructure.

### Claim 6 (depends on 1)

The method of claim 1, wherein the driving passage guarantees both a minimum time to reach the finishing location and driving safety.

### Claim 7 (depends on 1)

The method of claim 1, wherein the driving passage has left and right boundaries, wherein the local trajectory can go beyond the left and right boundaries of the driving passage to minimize a time to arrive at the finishing location.

### Claim 8 (depends on 1)

The method of claim 1, wherein the driving passage has left and right boundaries, wherein the local trajectory can go beyond the left and right boundaries of the driving passage to increase safety of the autonomous vehicle.

### Claim 9 (depends on 1)

The method of claim 1, wherein the driving passage has left and right boundaries, wherein the local trajectory can go beyond the left and right boundaries of the driving passage for better performance of the autonomous vehicle.

### Claim 10

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.

### Claim 11 (depends on 10)

The system of claim 10, wherein the subset of the vehicle control parameters include vehicle attributes that do not change over time, and wherein the remainder of the vehicle control parameters include vehicle attributes that change frequently.

### Claim 12 (depends on 11)

The system of claim 11, wherein the remainder of the vehicle control parameters include road grip, torque, engine revolutions-per-minute (RPM), air resistance, brake efficiency, steering angle, driving path control, tire pressure, engine temperature, and energy consumption.

### Claim 13 (depends on 10)

The system of claim 10, wherein the set of vehicle control parameters include data from vehicle sensors assigned for obstacle detection, wherein the subset of the vehicle control parameters include sensor data capturing non—moving obstacles, and wherein the remainder of the vehicle control parameters include sensor data capturing moving obstacles.

### Claim 14 (depends on 10)

The system of claim 10, wherein the route is calculated according to a map data structure, and wherein the driving passage is calculated according to a vehicle-to-everything infrastructure.

### Claim 15 (depends on 10)

The system of claim 10, wherein the driving passage guarantees both a minimum time to reach the finishing location and driving safety.

### Claim 16 (depends on 10)

The system of claim 10, wherein the driving passage has left and right boundaries, wherein the local trajectory can go beyond the left and right boundaries of the driving passage to minimize a time to arrive at the finishing location.

### Claim 17 (depends on 10)

The system of claim 10, wherein the driving passage has left and right boundaries, wherein the local trajectory can go beyond the left and right boundaries of the driving passage to increase safety of the autonomous vehicle.

### Claim 18 (depends on 10)

The system of claim 10, wherein the driving passage has left and right boundaries, wherein the local trajectory can go beyond the left and right boundaries of the driving passage for better performance of the autonomous vehicle.