US 11,703,870 B2
Method for computing maneuvers drivable space using piecewise semantic aggregation of trajectories
Daniele Molinari, Redwood City, CA (US); and Constantin Hubmann, Menlo Park, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on May 11, 2021, as Appl. No. 17/317,775.
Prior Publication US 2022/0365539 A1, Nov. 17, 2022
Int. Cl. G05D 1/02 (2020.01); B60W 60/00 (2020.01)
CPC G05D 1/0214 (2013.01) [B60W 60/001 (2020.02); B60W 2552/10 (2020.02); G05D 2201/0213 (2013.01)] 14 Claims
OG exemplary drawing
 
13. A system to determine a drivable space trajectory of an ego vehicle, the system comprising:
a vehicle trajectory aggregation module to determine a set of vehicle trajectories corresponding to a same semantic driving maneuver during motion planning of the ego vehicle;
a drivable trajectory identification module to divide points representing the set of vehicle trajectories into separate point sets according to a semantic structure of the same semantic driving maneuver, to select a point set corresponding to the lane segment, to project points of a selected point set corresponding to the lane segment on a roadway lane, to define a longitudinal reference system attached to the roadway lane, to compute, for each point of the selected point set, a curvilinear abscissa of a projection of the points of the selected point set to form the lane segment, aggregate the points of each separate point set of the set of trajectories to compute a lane segment for each point set by repeating the projecting and computing for each point set, and to compute a union of each of the lane segments to obtain the drivable space trajectory and a related motion plan of the ego vehicle; and
a vehicle control selection module to perform a vehicle control action to maneuver the ego vehicle along the drivable space trajectory.