# US 2025/0083707 A1 · Multi-layered approach for path planning and its execution for autonomous cars > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0083707 A1 - Document ID: US20250083707A1 - Status: Published application - Kind: A1 - Application number: 18/957,979 - Filed: 2024-11-25 - 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/US20250083707A1 ## CPC - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60W 60/0021: {specially adapted for travel time} - B60W 60/0016: {of the vehicle or its occupants} - 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} - G01C 21/3484: {Personalized, e.g. from learned user behaviour or user-defined profiles} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2530/10: Weight - B60W 2530/16: Driving resistance - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/40: Coefficient of friction - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2556/65: Data transmitted between vehicles - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - 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 with a vehicle control system, comprising: determining a route for the autonomous vehicle from a current location to a finishing location, based on a first set of vehicle control parameters; periodically reading a second set of vehicle control parameters; determining a driving passage along the route that guarantees both a minimum time to reach the finishing location and driving safety, based on a second set of vehicle control parameters; periodically reading a third set of vehicle control parameters; determining, for the autonomous vehicle, a local trajectory relative to the driving passage, based on a third set of vehicle control parameters; and transmitting the local trajectory to the vehicle control system. ### Claim 2 (depends on 1) The method of claim 1, wherein the first set of vehicle control parameters includes static autonomous vehicle control parameters. ### Claim 3 (depends on 1) The method of claim 1, wherein the first set of vehicle control parameters comprises at least one of global positioning system (GPS) and mobile positioning. ### Claim 4 (depends on 1) The method of claim 1, wherein the second set of vehicle control parameters includes parameters defining circumstances around the autonomous vehicle. ### Claim 5 (depends on 1) The method of claim 1, wherein the second set of vehicle control parameters comprises at least one of light detection and ranging (LiDAR), radar, cameras, and infrared (IR) sensors. ### Claim 6 (depends on 1) The method of claim 1, wherein the third set of vehicle control parameters includes parameters of autonomous vehicle environment. ### Claim 7 (depends on 1) The method of claim 1, wherein the third set of vehicle control parameters comprises at least one of 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 8 (depends on 1) The method of claim 1, further comprising periodically reading the first set of vehicle control parameters, wherein a period of reading the first set of vehicle control parameters is longer than a period of reading the third set of vehicle control parameters. ### 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 to minimize a time to arrive at the finishing location. ### Claim 10 (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 11 (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 12 (depends on 1) The method of claim 1, wherein determining the local trajectory further comprises determining a path for overtaking another vehicle along the route. ### Claim 13 A system for planning a safe trajectory for an autonomous vehicle with a vehicle control system, comprising: a transmitter; and a processor coupled with a non-transitory storage medium, wherein the processor is configured to: determine a route for the autonomous vehicle from a current location to a finishing location with a map data structure, based on a first set of vehicle control parameters; determine a driving passage along the route that guarantees both a minimum time to reach the finishing location and driving safety, based on a second set of vehicle control parameters; periodically read a third set of vehicle control parameters; determine, for the autonomous vehicle, a local trajectory relative to the driving passage, based on the third set of vehicle control parameters; and send, using the transmitter, the local trajectory to the vehicle control system. ### Claim 14 (depends on 13) The system of claim 13, wherein the first set of vehicle control parameters comprises at least one of global positioning system (GPS) and mobile positioning. ### Claim 15 (depends on 13) The system of claim 13, wherein the second set of vehicle control parameters includes parameters defining circumstances around the autonomous vehicle. ### Claim 16 (depends on 15) The system of claim 15, wherein the second set of vehicle control parameters comprises at least one of light detection and ranging (LiDAR), radar, cameras, and infrared (IR) sensors. ### Claim 17 (depends on 13) The system of claim 13, wherein the third set of vehicle control parameters includes parameters of autonomous vehicle environment. ### Claim 18 (depends on 17) The system of claim 17, wherein the third set of vehicle control parameters comprises at least one of 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 19 (depends on 13) The system of claim 13, wherein determining the local trajectory farther comprises determining a path for overtaking another vehicle along the route. ### Claim 20 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; allocating, while the autonomous vehicle navigates through the route, resources to data that has a greatest effect on vehicle trajectory when: periodically reading a set of vehicle control parameters; and 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.