Real time trajectory planning system with dynamic modelling of component level system latency for self driving vehicles
AssigneeTesla, Inc.
InventorsParil JAIN, Theo GUERIN, Lukas Lao BEYER, Ashok Kumar ELLUSWAMY
Life of this patent
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Abstract
Systems and methods for autonomous driving which calculates path trajectories by incorporating latencies of vehicle components and calculations so that when the vehicle is in an autonomous driving mode and using a trajectory to calculate a designated path, the latencies of each vehicle component can be taken into account to provide a more accurate vehicle path.
Claims21
A system for planning a trajectory of a vehicle for autonomous driving, the system including one or more processors and non-transitory computer storage media storing instructions that when executed by the one or more processors cause the one or more processors to perform operations comprising, during a cycle:
- obtaining vehicle data from a set of sensors;
- identifying vehicle trajectory information and vehicle states by processing the obtained vehicle data;
- identifying vehicle control instructions based on the identified vehicle trajectory information and the vehicle states, wherein the vehicle states are associated with operation of at least one actuator,
- determining the vehicle control instructions for each actuator;
- characterizing latencies for each actuator, wherein the latencies are estimated time delay between obtaining the vehicle data and controlling its corresponding actuator;
- optimizing the vehicle control instructions based on the characterized latencies for each actuator based on the trajectory information;
- and
- causing control of the vehicle based on the optimized vehicle control instructions.
A system for planning vehicle trajectory, the system comprising:
- a sensor suite configured to collect vehicle data from vehicle sensors implemented in a vehicle;
- a perception system configured to generate vehicle states by receiving and processing the collected vehicle data from the sensor suite;
- and
- a planning system configured to:
- identify vehicle control instructions for the generated vehicle states;
- determine latencies to control each actuator of the vehicle;
- and
- optimize a trajectory of the vehicle based on determined latencies.
A method for planning trajectory, the method comprising:
- obtaining vehicle data from a set of sensors;
- identifying vehicle trajectory information and vehicle states by processing the obtained vehicle data;
- identifying vehicle control instructions based on the identified vehicle trajectory information and the vehicle states, wherein the states are associated with operation of at least one actuator;
- determining the vehicle control instructions for each actuator;
- characterizing latencies for each actuator, wherein the latencies are estimated time delay between obtaining the vehicle data and controlling a corresponding actuator;
- optimizing the trajectory information based on the characterized latencies for each actuator;
- and
- causing control of the vehicle based on the optimized trajectory.
Dependencies are inferred from the claim text.