US 11,747,156 B2
Method and system for generating maneuvering trajectories for a vehicle
Balaji Sunil Kumar, Bangalore (IN); and Manas Sarkar, Barasat (IN)
Assigned to Wipro Limited, Karnataka (IN)
Filed by Wipro Limited, Bangalore (IN)
Filed on Mar. 1, 2021, as Appl. No. 17/187,910.
Claims priority of application No. 202141001859 (IN), filed on Jan. 14, 2021.
Prior Publication US 2022/0221294 A1, Jul. 14, 2022
Int. Cl. G01C 21/34 (2006.01); G01C 21/36 (2006.01); B60R 16/023 (2006.01)
CPC G01C 21/3492 (2013.01) [B60R 16/0231 (2013.01); G01C 21/3691 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method of generating a maneuvering trajectory for a vehicle in real-time, the method comprising:
obtaining, by an Electronic Control Unit (ECU) of the vehicle, a plurality of candidate maneuvering trajectories comprising at least one forward path and at least one reverse path, for maneuvering the vehicle to reach a goal point,
wherein the goal point is one of: a parking space, a garage, a gas station, and a point on a global path on a road, wherein the global path is indicative of one or more trajectories from a source location to a destination location, and
wherein the plurality of candidate maneuvering trajectories are generated based on a plurality of trajectory parameters that comprise: a vehicle pose, a goal pose, reversing space dimension, side space dimension, and forward space dimension;
determining, by the ECU, a plurality of dynamic profile parameters associated with each of the plurality of candidate maneuvering trajectories, wherein the plurality of dynamic profile parameters comprises a length of maneuvering path and number of reverse required for maneuver;
generating, by the ECU, a trajectory score for each of the plurality of candidate maneuvering trajectories using a Machine Learning (ML) model, wherein the ML model is trained using the plurality of dynamic profile parameters; and
generating, by the ECU, a final maneuvering trajectory from the plurality of candidate maneuvering trajectories based on the trajectory score, wherein the vehicle is navigated based on the final maneuvering trajectory.