Processing

Please wait...

Settings

Settings

Goto Application

1. WO2022212433 - MULTI-DIMENSIONAL EXTENDED TRAJECTORY PLANNING WITH CHANGING DIMENSIONALITY BASED ON HORIZON STEPS

Publication Number WO/2022/212433
Publication Date 06.10.2022
International Application No. PCT/US2022/022432
International Filing Date 30.03.2022
IPC
G01C 21/34 2006.1
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
34Route searching; Route guidance
G05D 1/02 2020.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
B60W 30/095 2012.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
08Predicting or avoiding probable or impending collision
095Predicting travel path or likelihood of collision
B60W 50/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
CPC
B60W 30/0956
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
095Predicting travel path or likelihood of collision
0956the prediction being responsive to traffic or environmental parameters
B60W 50/0097
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
0097Predicting future conditions
G01C 21/3446
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
3446Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
G01C 21/3492
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
3453Special cost functions, i.e. other than distance or default speed limit of road segments
3492employing speed data or traffic data, e.g. real-time or historical
Applicants
  • DENSO CORPORATION [JP]/[JP]
  • WAYMO LLC [US]/[US]
Inventors
  • LIKHACHEV, Maxim
  • RATNER, Ellis
  • LYU, Lu
  • KUNAPAREDDY, Abhinav Srinivas Sai Kiran
  • PEREIRA, Savio Joseph
  • BUTZKE, Jonathan Michael
  • XU, Yunfei
  • BANDO, Takashi
  • IWAI, Akihito
Agents
  • DOERR, Michael P.
  • ERJAVAC, Stanley
Priority Data
17/706,12728.03.2022US
63/168,56531.03.2021US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) MULTI-DIMENSIONAL EXTENDED TRAJECTORY PLANNING WITH CHANGING DIMENSIONALITY BASED ON HORIZON STEPS
(FR) PLANIFICATION D'UNE TRAJECTOIRE ÉTENDUE MULTIDIMENSIONNELLE AVEC CHANGEMENT DE DIMENSIONNALITÉ SUR LA BASE DE PAS D'HORIZON
Abstract
(EN) A multi-dimensional trajectory planning system is disclosed that includes planning and actuator modules. The planning module executes the planning application to: determine a first dimensionality including first dimensions for a first stage, where each of the first dimensions are active, and where the first dimensions include two or more dimensions; determine a second dimensionality including second dimensions for a second stage, where the second dimensions include the first dimensions or a subset of the first dimensions, and where the second stage has a lower level of dimensionality than the first stage; based on map data and sensor data, estimates first possible future states of the first dimensions for the first stage, and estimates second possible future states of the second dimensions for the second stage based on the first possible future states; and selects a trajectory plan based on the second possible future states.
(FR) L'invention concerne un système de planification d'une trajectoire multidimensionnelle qui comprend des modules de planification et d'actionneur. Le module de planification exécute l'application de planification pour : déterminer une première dimensionnalité comprenant des premières dimensions pour un premier niveau, chacune des premières dimensions étant active, et les premières dimensions comprenant au moins deux dimensions ; déterminer une seconde dimensionnalité comprenant des secondes dimensions pour un second niveau, les secondes dimensions comprenant les premières dimensions ou un sous-ensemble des premières dimensions, et le seconde niveau ayant un degré inférieur de dimensionnalité par rapport au premier niveau ; sur la base de données de carte et de données de capteur, estimer des premiers états futurs possibles des premières dimensions pour le premier niveau, et estimer des seconds états futurs possibles des secondes dimensions pour le second niveau sur la base des premiers états futurs possibles ; et sélectionner une planification de trajectoire sur la base des seconds états futurs possibles.
Related patent documents
Latest bibliographic data on file with the International Bureau