Memory-Based Optimal Motion Planning With Dynamic Model For Automated Vehicle

A technology of motion planning and vehicles, which is applied in the directions of motor vehicles, vehicle position/route/height control, transportation and packaging, etc., and can solve the problem of not being able to optimize the trajectories that can be driven

Pending Publication Date: 2020-05-29
GREAT WALL MOTOR CO LTD
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The motion planning algorithm used in common autonomous vehicle (AV) systems has strong limitat

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Memory-Based Optimal Motion Planning With Dynamic Model For Automated Vehicle
  • Memory-Based Optimal Motion Planning With Dynamic Model For Automated Vehicle
  • Memory-Based Optimal Motion Planning With Dynamic Model For Automated Vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0026] Reference will now be made in detail to the preferred embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings and specification to refer to the same or like parts.

[0027] The term "computer" or "computing device" as used herein includes any unit or combination of units capable of performing any one or more parts of any method or method disclosed herein.

[0028] As used herein, the term "processor" refers to one or more processors, such as one or more special purpose processors, one or more digital signal processors, one or more microprocessors, one or more controllers, a or more microcontrollers, one or more application processors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), one or more digital signal processors (DSPs), a or multiple application specific integrated circuits (ASICs), one or more applic...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

Methods and apparatus are described for motion planning of a vehicle. A motion planner uses previous motion graph data included in a motion graph tree and a look-up table (LUT) to generate candidate trajectory(ies). The motion graph tree is updated with motion graph data associated with the candidate trajectory(ies) upon a terminate condition. A trajectory from the candidate trajectory(ies) is selected and a controller is updated with the trajectory to control the vehicle. A path planner uses previous configuration graph data in a configuration graph tree to generate candidate path(s). The configuration graph tree is updated with configuration graph data associated with the candidate path(s) upon a terminate conditions. A path is selected from the candidate path(s). A velocity planner algorithm determines a velocity from the path. A LUT is used to assist in the velocity determination. A controller is updated with the path and velocity to control the vehicle.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of U.S. Provisional Application No. 62 / 768,425, filed November 16, 2018, and U.S. Patent Application No. 16 / 230,094, filed December 21, 2018, the entire disclosures of which are incorporated herein by reference . technical field [0003] The present disclosure relates to autonomous vehicles. More specifically, the present disclosure relates to controllers, controller systems and controller methods for autonomous vehicles. Background technique [0004] The motion planning algorithms used in common autonomous vehicle (AV) systems have strong limitations, and cannot quickly generate an optimized drivable trajectory in complex urban road environments. Therefore, new motion planning schemes are expected to solve such problems. Contents of the invention [0005] The present application discloses an implementation of memory-based motion planning. Memory-based motion planning may inclu...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02G01C21/34
CPCG05D1/0088G05D1/0212G01C21/3446B60W60/0011B60W2050/0026B60W60/0013B60W60/0015B60W50/0098G05D1/0221G05D1/0223G05D2201/0213G05D1/0274
Inventor 张凯雷杜勇刘志超
Owner GREAT WALL MOTOR CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap