Systems and methods for trajectory planning in an autonomous vehicle using different fixed durations for steering and speed parameters

Patent metadata

Field	Value
Publication number	US-10037037-B1
Application number	US-201715430311-A
Country	US
Kind code	B1
Filing date	Feb 10, 2017
Priority date	Jan 18, 2017
Publication date	Jul 31, 2018
Grant date	Jul 31, 2018

Abstract

System, methods, and other embodiments described herein relate to autonomously controlling a vehicle according to a trajectory plan. In one embodiment, a method includes updating, upon traveling over at least a portion of a current segment of a roadway, the trajectory plan for a subsequent segment of the roadway by setting a fixed portion of the trajectory plan to include: (i) a steering parameter to be fixed for a first duration of time and (ii) a speed parameter to be fixed for a second duration of time. The first duration of time and the second duration of time are of different lengths. The method includes computing input controls for autonomously controlling the vehicle according to the fixed portion of the trajectory plan. The method includes controlling the vehicle according to the input controls over the subsequent segment of the roadway.

First claim

What is claimed is:

1. A trajectory planning system for autonomously controlling a vehicle according to a trajectory plan, comprising:
one or more processors;
a memory communicably coupled to the one or more processors and storing:
a planning module including instructions that when executed by the one or more processors cause the one or more processors to update, upon traveling over at least a portion of a current segment of a roadway, the trajectory plan for a subsequent segment of the roadway by setting a fixed portion of the trajectory plan to include: (i) a steering parameter to be fixed for a first duration of time and (ii) a speed parameter to be fixed for a second duration of time, wherein the first duration of time and the second duration of time are of different lengths; and
a control module including instructions that when executed by the one or more processors cause the one or more processors to compute input controls for autonomously controlling the vehicle according to the fixed portion of the trajectory plan, and
wherein the control module includes instructions to control the vehicle over the subsequent segment of the roadway according to the input controls.

2. The trajectory planning system of claim 1 , wherein the second duration of time for the speed parameter is shorter than the first duration of time for the steering parameter.

3. The trajectory planning system of claim 1 , wherein the first duration of time for the steering parameter is shorter than the second duration of time of the speed parameter.

4. The trajectory planning system of claim 1 , wherein the planning module includes instructions to dynamically select relative lengths of time for the first duration and the second duration according to trajectory data that identifies a present context of the vehicle.

5. The trajectory planning system of claim 4 , wherein the control module includes instructions to collect, from sensors of the vehicle, the trajectory data that identifies a present context according to operating characteristics of the vehicle and environmental characteristics about surroundings of the vehicle.

6. The trajectory planning system of claim 1 , wherein the trajectory plan defines a course along the roadway for autonomously controlling the vehicle, wherein the first duration and the second duration are partially coextensive according to an offset between the first duration and the second duration, and wherein the fixed portion of the trajectory plan is unmodifiable once set to maintain consistent operation of the vehicle along the course on the roadway.

7. The trajectory planning system of claim 1 , wherein the planning module further includes instructions to update the trajectory plan by adjusting target points in the trajectory plan beyond a current segment prior to fixing the first duration and the second duration for the steering parameter and the speed parameter.

8. The trajectory planning system of claim 1 , wherein the control module further includes instructions to compute the input controls by computing the input controls from the fixed portion at discrete points in time along the trajectory plan, wherein the input controls include at least steering inputs, accelerator inputs, and braking inputs.

9. A non-transitory computer-readable medium storing instructions that when executed by one or more processors cause the one or more processors to:
update, upon traveling over at least a portion of a current segment of a roadway, a trajectory plan for a subsequent segment of the roadway by setting a fixed portion of the trajectory plan to include: (i) a steering parameter to be fixed for a first duration of time and (ii) a speed parameter to be fixed for a second duration of time, wherein the first duration of time and the second duration of time are of different lengths;
compute input controls for autonomously controlling a vehicle according to the fixed portion of the trajectory plan; and
control the vehicle over the subsequent segment of the roadway according to the input controls.

10. The non-transitory computer-readable medium of claim 9 , wherein the second duration of time for the speed parameter is shorter than the first duration of time for the steering parameter.

11. The non-transitory computer-readable medium of claim 9 , wherein the first duration of time for the steering parameter is shorter than the second duration of time of the speed parameter.

12. The non-transitory computer-readable medium of claim 9 , wherein the trajectory plan defines a course along the roadway for autonomously controlling the vehicle, wherein the first duration and the second duration are partially coextensive according to an offset between the first duration and the second duration, and wherein the fixed portion of the trajectory plan is unmodifiable once set to maintain consistent operation of the vehicle along the course on the roadway.

13. The non-transitory computer-readable medium of claim 9 , wherein the instructions to update the trajectory plan include instructions to adjust target points in the trajectory plan beyond a current segment prior to fixing the first duration and the second duration for the steering parameter and the speed parameter.

14. A method of autonomously controlling a vehicle according to a trajectory plan, comprising:
updating, upon traveling over at least a portion of a current segment of a roadway, the trajectory plan for a subsequent segment of the roadway by setting a fixed portion of the trajectory plan to include: (i) a steering parameter to be fixed for a first duration of time and (ii) a speed parameter to be fixed for a second duration of time, wherein the first duration of time and the second duration of time are of different lengths;
computing input controls for autonomously controlling the vehicle according to the fixed portion of the trajectory plan; and
controlling the vehicle according to the input controls over the subsequent segment of the roadway.

15. The method of claim 14 , wherein the second duration of time for the speed parameter is shorter than the first duration of time for the steering parameter.

16. The method of claim 14 , wherein the first duration of time for the steering parameter is shorter than the second duration of time of the speed parameter.

17. The method of claim 14 , further comprising:
dynamically selecting lengths of time for the first duration and the second duration according to trajectory data that identifies a present context of the vehicle.

18. The method of claim 17 , further comprising:
collecting, from sensors of the vehicle, the trajectory data that identifies a present context according to operating characteristics of the vehicle and environmental characteristics about surroundings of the vehicle.

19. The method of claim 14 , wherein the trajectory plan defines a course along the roadway for autonomously controlling the vehicle, wherein the first duration and the second duration are partially coextensive according to an offset between the first duration and the second duration, and wherein the fixed portion of the trajectory plan is unmodifiable once set to maintain consistent operation of the vehicle along the trajectory plan on the roadway.

20. The method of claim 14 , wherein updating the trajectory plan includes adjusting target points in the trajectory plan beyond a current segment prior to fixing the first duration and the second duration for the steering parameter and the speed parameter, and
wherein computing the input controls includes compu

Assignees

• Toyota Eng & Mfg North America

Inventors

• Nagasaka Naoki
• Kamata Nobuhide
• Harada Masahiro

Classifications

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2552/00

  Input parameters relating to infrastructure · CPC title

• B60W2556/00

  Input parameters relating to data · CPC title

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• B60W10/20

  including control of steering systems · CPC title