Title:
VEHICLE TRAJECTORY MODIFICATION FOR FOLLOWING
Document Type and Number:
WIPO Patent Application WO/2020/097011
Kind Code:
A3
Abstract:
Techniques for determining to modify a trajectory based on an object are discussed herein. A vehicle can determine a drivable area of an environment, capture sensor data representing an object in the environment, and perform a spot check to determine whether or not to modify a trajectory. Such a spot check may include processing to incorporate an actual or predicted extent of the object into the drivable area to modify the drivable area. A distance between a reference trajectory and the object can be determined at discrete points along the reference trajectory, and based on a cost, distance, or intersection associated with the trajectory and the modified area, the vehicle can modify its trajectory. One trajectory modification includes following, which may include varying a longitudinal control of the vehicle, for example, to maintain a relative distance and velocity between the vehicle and the object.
Inventors:
BELLER ANDREW (US)
HUDECEK JANEK (US)
SILVA WILLIAM (US)
HUDECEK JANEK (US)
SILVA WILLIAM (US)
Application Number:
PCT/US2019/059769
Publication Date:
July 23, 2020
Filing Date:
November 05, 2019
Export Citation:
Assignee:
ZOOX INC (US)
International Classes:
G06K9/00
Foreign References:
| US20180251126A1 | 2018-09-06 | |||
| CN108292356A | 2018-07-17 |
Attorney, Agent or Firm:
DIVINE, David, A. et al. (US)
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