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Patent Searching and Data


Title:
TRAJECTORY PLANNER
Document Type and Number:
WIPO Patent Application WO/2021/050413
Kind Code:
A8
Abstract:
An autonomous vehicle capable of trajectory prediction may include a first sensor, a second sensor, a processor, a trajectory planner, a low-level controller, and vehicle actuators. The first sensor may be of a first sensor type and may detect an obstacle and a goal. The second sensor may be of a second sensor type and may detect the obstacle and the goal. The processor may perform matching on the obstacle detected by the first sensor and the obstacle detected by the second sensor, model an existence probability of the obstacle based on the matching, and track the obstacle based on the existence probability and a constant velocity model. The trajectory planner may generate a trajectory for the autonomous vehicle based on the tracked obstacle, the goal, and a non-linear model predictive control (NMPC). The low-level controller may implement the trajectory for the autonomous vehicle by driving vehicle actuators.

Inventors:
FEBBO HUCKLEBERRY (US)
HUANG JIAWEI (US)
ISELE DAVID FRANCIS (US)
Application Number:
PCT/US2020/049666
Publication Date:
October 14, 2021
Filing Date:
September 08, 2020
Export Citation:
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Assignee:
HONDA MOTOR CO LTD (JP)
FEBBO HUCKLEBERRY (US)
HUANG JIAWEI (US)
ISELE DAVID FRANCIS (US)
International Classes:
G06F17/00
Attorney, Agent or Firm:
OVERBERGER, Erik J. et al. (US)
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