US 11,945,472 B2
Trajectory planning of vehicles using route information
Daniele De Francesco, Lexington, MA (US); and Aravindkumar Vijayalingam, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Aug. 28, 2020, as Appl. No. 17/006,763.
Prior Publication US 2022/0063674 A1, Mar. 3, 2022
Int. Cl. B60W 60/00 (2020.01); G06N 20/00 (2019.01); H04W 4/44 (2018.01); H04W 4/46 (2018.01)
CPC B60W 60/0027 (2020.02) [G06N 20/00 (2019.01); H04W 4/44 (2018.02); H04W 4/46 (2018.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4044 (2020.02); B60W 2556/65 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by at least one processor, information indicating a presence of an object operating in an environment of a vehicle during a travel of the vehicle;
determining, by the at least one processor, a trajectory of the object representative of a future travel of the object based on sensor data of one or more sensors of the vehicle while the vehicle is driving, the trajectory including at least a position, a speed, or a direction of the future travel of the object;
determining, by the at least one processor, an expected route of the object based on a current trajectory of the object, wherein the expected route of the object is a pre-planned route for the object to take and includes an expected future position of the object at a future time;
comparing, by the at least one processor, the trajectory of the object to the expected route of the object;
determining, by the at least one processor, a confidence level associated with the expected route of the object based on a result of the comparing;
updating, by the at least one processor, the trajectory of the object based on the expected route of the object and the confidence level associated with the expected route of the object; and
operating the vehicle based on the updated trajectory of the object.