Autonomous vehicle trajectory generation using velocity-based steering limits

Patent metadata

Field	Value
Publication number	US-11780464-B2
Application number	US-202117555004-A
Country	US
Kind code	B2
Filing date	Dec 17, 2021
Priority date	Dec 17, 2021
Publication date	Oct 10, 2023
Grant date	Oct 10, 2023

Abstract

Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.

First claim

What is claimed is:

1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
determining a vehicle state associated with a vehicle in a driving environment, the vehicle state comprising a speed associated with the vehicle;
determining a driving condition associated with the driving environment;
receiving, based at least in part on the vehicle state and the driving condition, a steering limit table;
determining a steering limit function based on the steering limit table;
determining steering data associated with the vehicle;
determining, based at least in part on the steering data and the steering limit function, a cost value;
determining, based at least in part on the cost value, a trajectory; and
controlling the vehicle in the driving environment based at least in part on the trajectory.

2. The system as recited in claim 1 , wherein:
the steering data includes a steering angle and a steering rate; and
determining the cost value includes:
determining a first cost value based at least in part on the steering angle and a steering angle limit associated with the steering limit function; and
determining a second cost value based at least in part on the steering rate and a steering rate limit associated with a second steering limit function.

3. The system as recited in claim 1 , wherein:
the steering limit table includes a discontinuous point between two steering limits; and
the steering limit function includes a continuous and differentiable function between the two steering limits.

4. The system as recited in claim 3 , wherein determining the steering limit function comprises:
determining a cubic spline interpolation between the two steering limits.

5. The system as recited in claim 1 , the operations further comprising:
determining a reference frame associated with the trajectory, wherein determining the steering limit table is based at least in part on the reference frame.

6. A method comprising:
determining a vehicle state associated with a vehicle in a driving environment, the vehicle state comprising one or more of a position, speed, or heading;
determining, based at least in part on the vehicle state, a steering limit associated with the vehicle;
determining steering data associated with the vehicle;
determining, based at least in part on the steering limit and the steering data, a cost value;
determining, based at least in part on the cost value, a trajectory; and
controlling the vehicle in the driving environment based at least in part on the trajectory.

7. The method of claim 6 , further comprising:
determining a driving condition associated with the driving environment, wherein determining the steering limit is based at least in part on the driving condition.

8. The method of claim 6 , wherein:
the steering limit includes a steering angle limit and a steering rate limit;
the steering data includes a steering angle and a steering rate; and
determining the cost value includes:
determining a first cost value based at least in part on the steering angle and the steering angle limit; and
determining a second cost value based at least in part on the steering rate and the steering rate limit.

9. The method of claim 6 , further comprising:
receiving a steering limit table including at least one discontinuous point; and
determining a continuous steering limit function based on the steering limit table,
wherein determining the steering limit is based at least in part on the continuous steering limit function.

10. The method of claim 9 , wherein determining the continuous steering limit function comprises:
determining, on the steering limit table, a first value greater than a value of the discontinuous point, relative to an axis of the steering limit table;
determining, on the steering limit table, a second value less than the value of the discontinuous point, relative to the axis of the steering limit table; and
determining, using cubic spline interpolation, a continuous function between the first value on the steering limit table and the second value on the steering limit table.

11. The method of claim 6 , further comprising:
determining a reference frame associated with the trajectory, wherein determining the steering limit is based at least in part on the reference frame.

12. The method of claim 6 , further comprising:
determining a component of the vehicle associated with executing the cost value, wherein determining the trajectory is based at least in part on the component.

13. The method of claim 6 , wherein:
the cost value comprises a steering limit cost defined based at least in part on an amount a proposed steering limit meets or exceeds the steering limit.

14. One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
determining a vehicle state associated with a vehicle in a driving environment, the vehicle state comprising one or more of a position, speed, or heading;
determining, based at least in part on the vehicle state, a steering limit associated with the vehicle;
determining steering data associated with the vehicle;
determining, based at least in part on the steering limit and the steering data, a cost value;
determining, based at least in part on the cost value, a trajectory; and
controlling the vehicle in the driving environment based at least in part on the trajectory.

15. The one or more non-transitory computer-readable media of claim 14 , the operations further comprising:
determining a driving condition associated with the driving environment, wherein determining the steering limit is based at least in part on the driving condition.

16. The one or more non-transitory computer-readable media of claim 14 , wherein:
the steering limit includes a steering angle limit and a steering rate limit;
the steering data includes a steering angle and a steering rate; and
determining the cost value includes:
determining a first cost value based at least in part on the steering angle and the steering angle limit; and
determining a second cost value based at least in part on the steering rate and the steering rate limit.

17. The one or more non-transitory computer-readable media of claim 14 , the operations further comprising:
receiving a steering limit table including at least one discontinuous point; and
determining a continuous steering limit function based on the steering limit table,
wherein determining the steering limit is based at least in part on the continuous steering limit function.

18. The one or more non-transitory computer-readable media of claim 17 , determining the continuous steering limit function comprises:
determining, on the steering limit table, a first value greater than a value of the discontinuous point, relative to an axis of the steering limit table;
determining, on the steering limit table, a second value less than the value of the discontinuous point, relative to the axis of the steering limit table; and
determining, using cubic spline interpolation, a continuous function between the first value on the steering limit table and the second value on the steering limit table.

19. The one or more non-transitory computer-readable media of claim 14 , the operations further comprising:
determining a ref

Assignees

• Zoox Inc

Inventors

• Funke Joseph
• Qian Steven Cheng
• Okamoto Kazuhide
• Thalman Jacob Patrick
• Narayanan Sriram
• Gallagher Liam

Classifications

• B60W60/0011 Primary

  involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles · CPC title

• B60W50/00

  Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} · CPC title

• B60W2050/006

  Interpolation; Extrapolation · CPC title

• B60W2050/0026

  Lookup tables or parameter maps · CPC title

• B60W2510/20

  Steering systems · CPC title