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Predictive and reactive field of view based planning for automated driving

A technology of automatic driving and field of view, applied in the direction of motor vehicles, measuring devices, transportation and packaging, etc., can solve problems such as reduction

Pending Publication Date: 2021-02-23
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the nominal FOV of a given sensor may be reduced due to occlusion

Method used

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  • Predictive and reactive field of view based planning for automated driving
  • Predictive and reactive field of view based planning for automated driving
  • Predictive and reactive field of view based planning for automated driving

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Embodiment Construction

[0032] The following description is merely exemplary in nature and is not intended to limit the disclosure, its application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0033] As mentioned earlier, autonomous driving involves planning a static route that an autonomous vehicle will take and defining a dynamic trajectory of specific waypoints and speeds along that route. A static route provides a lane-level path from an origin to a destination without regard to the presence or absence of any other vehicles. This static route is then modified while driving to account for dynamic objects on the road using a real-time trajectory planner. Both static and dynamic planning use maps to indicate roads, the directions of travel allowed on them, lane markings, and other information that facilitates automatic traversal between origins and destinations. For example, a route plan may in...

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Abstract

Systems and methods to control an autonomous vehicle to travel from an origin to a destination include determining a route between the origin and the destination using a map. A method includes determining an initial path along the route by optimizing a first cost function, the first cost function including a static cost component at a first set of locations along the route, and the static cost component at each location among the first set of locations along the route corresponding to a change in field of view of one or more sensors of the autonomous vehicle resulting from one or more static obstructions at the location that are indicated on the map. The method also includes controlling the autonomous vehicle to begin the travel on the route along the initial path.

Description

technical field [0001] The subject disclosure relates to predictive and reactive field-of-view based planning for autonomous driving. Background technique [0002] The autonomous operation of a vehicle relies on one or more types of sensors to detect and monitor the vehicle and its environment. Exemplary vehicles include cars, trucks, motorcycles, construction equipment, farm equipment, automated factory equipment. Exemplary sensors include light detection and ranging (laser) systems, radio detection and ranging (radar) systems, and cameras. Most sensors have a nominal field of view (FOV) associated with them, and the sensors detect objects or acquire images within their respective FOV. Consider the nominal field of view of one or more sensors of an autonomous vehicle to plan the vehicle's future trajectory. For example, a static route plan is developed for driving from a given origin to a given destination. This route plan, along with detection data from the sensor's no...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0274G05D1/0217G01C21/3453B60W60/0023Y02T10/84G05D1/0214G01C21/3469G01C21/3415
Inventor T.R.埃维蒂加拉P.古普塔S.R.贾法里塔夫蒂
Owner GM GLOBAL TECH OPERATIONS LLC