US 11,807,268 B2
Selecting trajectories for controlling autonomous vehicles
Sami Ahmed, Orion Township, MI (US); Kevin A. O'Dea, Ann Arbor, MI (US); Audrey D. Porter, Hazel Park, MI (US); Bakhtiar B. Litkouhi, Washington, MI (US); Nikolai K. Moshchuk, Grosse Pointe, MI (US); and Kausalya Singuru, Troy, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jan. 14, 2021, as Appl. No. 17/149,461.
Prior Publication US 2022/0219728 A1, Jul. 14, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/072 (2012.01)
CPC B60W 60/0011 (2020.02) [B60W 40/072 (2013.01); B60W 60/0053 (2020.02); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling an autonomous vehicle, the method comprising the following steps:
providing, by a processor of a trajectory planner module, a first trajectory to a trajectory control module of the autonomous vehicle;
determining, by a processor of the trajectory control module, parameters of the first trajectory, wherein the parameters include a curvature of the first trajectory, a lateral jerk of the first trajectory, and a longitudinal jerk of the first trajectory;
comparing, by the processor of the trajectory control module, a difference between a predicted curvature of the road and the curvature of the first trajectory to a first threshold valued;
comparing, by the processor of the trajectory control module, the longitudinal jerk to a second threshold value;
comparing, by the processor of the trajectory control module, the lateral jerk to a third threshold value;
obtaining, by the processor of the trajectory control module, at least one alternative trajectory from a source other than the trajectory planner module;
determining, by the processor of the trajectory control module, parameters of each of the at least one alternative trajectory;
comparing, by the processor of the trajectory control module, at least one parameter of the alternative trajectory to a respective threshold value;
in response to at least one parameter of the first trajectory exceeding the respective first, second, and third threshold value, indicating, by the processor of the trajectory control module, the first trajectory as invalid, otherwise selecting, by the trajectory control module, the first trajectory for controlling the autonomous vehicle;
in response to the first trajectory being invalid, selecting, by the processor of the trajectory control module, one of the alternative trajectories that meets all threshold values for controlling the autonomous vehicle; and
controlling, by the processor of the trajectory control module, the autonomous vehicle to follow the selected trajectory.