Trajectory generation and execution architecture

Patent metadata

Field	Value
Publication number	US-12054176-B2
Application number	US-201916512195-A
Country	US
Kind code	B2
Filing date	Jul 15, 2019
Priority date	Mar 1, 2017
Publication date	Aug 6, 2024
Grant date	Aug 6, 2024

Abstract

Trajectory generation and/or execution architecture is described. In an example, a first signal can be determined at a first frequency, wherein the first signal comprises information associated with causing the system to move to a location. Further, a second signal can be determined at a second frequency different from the first frequency and based at least in part on the first signal. A system can be controlled to move to the location, based at least in part on the second signal.

First claim

What is claimed is:

1. A system comprising:
one or more processors; and
one or more non-transitory computer readable storage media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving data associated with a sensor;
causing a route planning component to determine a first signal associated with a route between a first location and a second location based on the data, wherein the route planning component operates at a first frequency, wherein the first signal associated with the route indicates a sequence of waypoints for traveling between the first location and the second location;
causing a trajectory component to determine a second signal associated with moving the system along a trajectory associated with at least portion of the route, wherein the second signal is determined based at least in part on the first signal, wherein the trajectory component operates at a second frequency, wherein the trajectory is calculated as a receding horizon;
determining that a fallback trajectory configured to perform a safety maneuver is not stored;
receiving a fallback action;
generating the fallback trajectory based at least in part on the fallback action;
determining an occurrence of an event;
controlling, based at least in part on the event, the system to perform the safety maneuver; and
storing the fallback trajectory.

2. The system as claim 1 recites, the operations further comprising causing a decision component to determine a third signal at a third frequency that is different from the first frequency, and based at least in part on the first signal;
wherein the third signal comprises a sequence of actions to guide the system to the second location along the route; and
wherein the second signal is determined further based at least in part on the third signal.

3. The system as claim 2 recites, the operations further comprising causing an execution component to determine a fourth signal at a fourth frequency that is different from the first frequency and the second frequency, and based at least in part on the third signal;
wherein the fourth signal comprises the trajectory along which the system is to travel to the second location; and
wherein the second signal is determined further based at least in part on the fourth signal.

4. The system as claim 3 recites, wherein the second frequency is higher than the first frequency, the third frequency, and the fourth frequency.

5. The system as claim 3 recites, wherein:
the third frequency is higher than the first frequency; and
the third frequency is lower than the second frequency and the fourth frequency.

6. The system as claim 3 recites, wherein the first frequency is lower than the second frequency, the third frequency, and the fourth frequency.

7. The system as claim 1 recites, further comprising:
a first computer system; and
a second computer system;
wherein causing the route planning component to determine the first signal is performed by the first computer system and controlling the system to move to the second location is performed by the second computer system.

8. The system as claim 1 recites, the operations further comprising:
executing, at the second frequency, the fallback trajectory responsive to determining the occurrence of the event.

9. A method comprising:
receiving data associated with a sensor;
causing a route planning component to determine a first signal associated with a route between a current location of a vehicle and a second location based on the data, wherein the route planning component operates at a first frequency, wherein the first signal associated with the route indicates a sequence of waypoints for traveling between the current location and the second location;
causing a trajectory component to determine a second signal associated with moving the vehicle along a trajectory associated with at least portion of the route, wherein the second signal is determined based at least in part on the first signal, wherein the trajectory component operates at a second frequency, wherein the trajectory is calculated as a receding horizon;
determining that a fallback trajectory configured to perform a safety maneuver is not stored;
receiving a fallback action;
generating the fallback trajectory based at least in part on the fallback action;
determining an occurrence of an event;
controlling, based at least in part on the event, the vehicle to perform the safety maneuver; and
storing the fallback trajectory.

10. The method as claim 9 recites, further comprising causing a decision component to determine a third signal at a third frequency that is different from the first frequency, and based at least in part on the first signal and real-time processed sensor data received from the sensor associated with the vehicle;
wherein the third signal comprises a sequence of actions to guide the vehicle to the second location along the route; and
wherein the second signal is determined further based at least in part on the third signal.

11. The method as claim 10 recites, further comprising causing an execution component to determine a fourth signal at a fourth frequency different from the first frequency and the second frequency, and based at least in part on the third signal and the real-time processed sensor data;
wherein the fourth signal comprises the trajectory along which the vehicle is to travel to the second location; and
wherein the second signal is determined further based at least in part on the fourth signal.

12. The method as claim 11 recites, wherein:
the first frequency is lower than the second frequency, the third frequency, and the fourth frequency; and
the second frequency is higher than the first frequency, the third frequency, and the fourth frequency.

13. The method as claim 9 recites, wherein:
causing the route planning component to determine the first signal is performed by a first computer system onboard the vehicle; and
controlling the vehicle to move to the second location is performed by a second computer system onboard the vehicle.

14. The method as claim 9 recites, further comprising:
executing, at the second frequency, the fallback trajectory responsive to determining the occurrence of the event.

15. One or more non-transitory computer readable storage media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
receiving data associated with a sensor,
causing a route planning component to determine a first signal associated with a route between a current location of a transportable computer system and a second location based on the data, wherein the route planning component operates at a first frequency, wherein the first signal associated with the route indicates a sequence of waypoints for traveling between the current location and the second location;
causing a trajectory component to determine a second signal associated with moving the transportable computer system along a trajectory associated with at least portion of the route, wherein the second signal is determined based at least in part on the first signal, wherein the trajectory component operates at a second frequency, wherein the trajectory is calculated as a receding horizon;
determining that a fallback trajectory configured to perform a safety maneuver is not stored;
receiving a fallback action;
generating the fallback trajectory based at least in part on the fallback action;
dete

Assignees

• Zoox Inc

Inventors

• Linscott Gary
• Somers Robert Edward
• Kiiski Joona Markus Petteri
• Kobilarov Marin
• Caldwell Timothy
• Askeland Jacob Lee
• Rege Ashutosh Gajanan
• Funke Joseph

Classifications

• G06N3/092

  Reinforcement learning · CPC title

• G06N3/0464

  Convolutional networks [CNN, ConvNet] · CPC title

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title