System and method for trajectory validation

Patent metadata

Field	Value
Publication number	US-11407409-B2
Application number	US-201916539870-A
Country	US
Kind code	B2
Filing date	Aug 13, 2019
Priority date	Aug 13, 2019
Publication date	Aug 9, 2022
Grant date	Aug 9, 2022

Abstract

The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.

First claim

What is claimed is:

1. A collision avoidance system comprising:
one or more processors; and
memory that stores instructions which, when executed by the one or more processors, cause the system to perform operations comprising:
receiving a trajectory for navigating an autonomous vehicle through the environment;
determining by the collision avoidance system, as a staleness validity, whether a first temporal difference between a first time the trajectory was created by a trajectory generation system independent of the collision avoidance system and a current time satisfies a first time threshold;
determining, as a punctuality validity, whether a second temporal difference between a second time the trajectory was received by the collision avoidance system and a third time a previous trajectory was received by the collision avoidance system satisfies a second time threshold;
determining, as a feasibility validity, whether the trajectory can be performed by the autonomous vehicle;
generating a validity signal based at least in part on one or more of the staleness validity, the punctuality validity, or the feasibility validity; and
controlling, based at least in part on the validity signal, the autonomous vehicle in accordance with the trajectory.

2. The system of claim 1 , wherein the operations further comprise:
receiving a current state of the autonomous vehicle;
determining, based at least in part on the trajectory, a potential state of the autonomous vehicle; and
determining whether the autonomous vehicle is capable of moving to the potential state based at least in part on the current state.

3. The system of claim 2 ,
wherein the current state of the autonomous vehicle comprises one or more of a first position, a first orientation, a first yaw rate, or a first velocity,
wherein the potential state of the autonomous vehicle comprises one or more of a second position, a second orientation, a second yaw rate, or a second velocity; and
wherein determining whether the autonomous vehicle is capable of moving to the potential state based at least in part on the current state further comprises:
determining at least one of an acceleration or a deceleration in at least one direction for the autonomous vehicle to travel from the current state to the potential state; and
determining whether the at least one of the acceleration or the deceleration in the at least one direction satisfies a corresponding feasibility acceleration or deceleration threshold.

4. The system of claim 1 , wherein the operations further comprise:
receiving a second trajectory for navigating the autonomous vehicle through the environment, the second trajectory being an alternative to the trajectory;
determining a third temporal difference between a fourth time the second trajectory was created and the current time;
determining a fourth temporal difference between a fifth time the second trajectory was received and the third time the previous trajectory was received;
determining, as a second kinematic validity, whether the second trajectory can be performed by the autonomous vehicle;
generating a second validity signal based at least in part on one or more of the third temporal difference, fourth temporal difference or the second kinematic validity;
determining a resulting trajectory from at least the trajectory and the second trajectory, based on the validity signal and the second validity signal; and
controlling the autonomous vehicle in accordance with the resulting trajectory.

5. The system of claim 4 , wherein determining the resulting trajectory comprises:
determining the resulting trajectory from at least the trajectory, the second trajectory, and a stored trajectory, wherein the stored trajectory is associated with a third validity value, and wherein selecting the resulting trajectory is based on the validity signal, the second validity signal, and the third validity signal.

6. A method, comprising:
receiving, by a secondary system, a trajectory from a trajectory planner for navigating a device;
determining
as a punctuality validity, whether the trajectory was received by the secondary system from the trajectory planner within a time threshold of receiving a prior trajectory from the trajectory planner;

generating a validity signal based at least in part on the punctuality validity; and
controlling, based at least in part on the validity signal, the device in accordance with the trajectory.

7. The method of claim 6 further comprising:
determining a temporal difference between a time the trajectory was created by the trajectory planner and a current time; and
determining a staleness validity based on whether the temporal difference satisfies a temporal threshold, and wherein generating the validity signal is further based at least in part on the staleness validity.

8. The method of claim 6 , further comprising determining as a consistency validity, whether the trajectory aligns with a current state of the device, by:
generating a projection of the device onto the trajectory;
comparing the current state of the device to the projection to generate projection data; and
determining the consistency validity based on whether the projection data satisfies at least one deviation threshold, wherein generating the validity signal is further based at least in part on the consistency validity.

9. The method of claim 6 , further comprising determining as a consistency validity, whether the trajectory aligns with a current state of the device, by:
generating a projection of the device onto the trajectory;
determining at least one physical difference between the current state of the device and the projection, wherein the at least one physical difference comprises a distance;
determining the consistency validity based on whether the at least one physical difference satisfies at least one deviation threshold, wherein generating the validity signal is further based at least in part on the consistency validity.

10. The method of claim 6 , further comprising determining, as a kinematic validity, whether the trajectory can be performed by the device by:
receiving a current state of a device;
receiving a potential state of the device to follow the trajectory; and
determining whether the device is capable of occupying the potential state based at least in part on the current state, wherein generating the validity signal is further based at least in part on the kinematic validity.

11. The method of claim 10 , wherein the current state of the device comprises one or more of a first position, a first orientation, a first yaw rate, or a first velocity, and wherein the potential state of the device comprises one or more of a second position, a second orientation, a second yaw rate, or a second velocity.

12. The method of claim 6 , further comprising:
receiving a second trajectory for the device;
determining:
as a second punctuality validity, whether the second trajectory was received within a second time threshold of receiving the trajectory;

generating a second validity signal based at least in part on the second punctuality validity; and
selecting a resulting trajectory from at least the trajectory and the second trajectory, based on the validity signal and the second validity signal; and
control the device in accordance with the resulting trajectory.

13. The method of claim 12 , further comprising:
determining a first collision value indicating whether the device navigating the trajectory will likely result in a collision and a second collision value indicating whether the device navigating the second trajectory will likely result in a collis

Assignees

• Zoox Inc

Inventors

• Olson Sy Kelly
• Macgregor Collin
• Packer Jefferson Bradfield
• Reschka Andreas Christian

Classifications

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• B60W2556/15

  Data age · CPC title

• B60W30/0953

  the prediction being responsive to vehicle dynamic parameters · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2520/14

  Yaw · CPC title