US 12,221,121 B2
Adjustment of vehicle planning parameters in a degraded driving situation
Rasoul Salehi, Ann Arbor, MI (US); and Sayyed Rouhollah Jafari Tafti, 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 Oct. 26, 2022, as Appl. No. 17/973,686.
Prior Publication US 2024/0140449 A1, May 2, 2024
Int. Cl. B60W 50/029 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 50/029 (2013.01) [B60W 60/001 (2020.02); B60W 2050/0022 (2013.01); B60W 2520/105 (2013.01); B60W 2552/10 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2555/60 (2020.02)] 14 Claims
OG exemplary drawing
 
1. A system for planning motion of a vehicle, the system comprising:
a controller having a processor and tangible, non-transitory memory on which instructions are recorded, the vehicle being capable of an automated driving operation;
a vehicle planning module executable by the controller to generate a trajectory plan constrained by a set of planning parameters;
an adjustment module executable by the controller to generate at least one adjusted parameter in the set of planning parameters during a degraded driving situation;
wherein the controller is adapted to:
register occurrence of the degraded driving situation when the vehicle planning module is unable to generate a feasible path for the vehicle constrained by the set of planning parameters;
divide the set of planning parameters into a primary list and a secondary list having respective weighting factors, the primary list being prioritized for adjustment over the secondary list;
maximize a utility function based on the primary list, the secondary list, the respective weighting factors, a nominal value of the at least one adjusted parameter and a value function generated by the vehicle planning module;
wherein the vehicle planning module is adapted to generate a modified trajectory plan based on the at least one adjusted parameter, the automated driving operation being based on the modified trajectory plan during the degraded driving situation; and
wherein the controller is adapted to discontinue using the modified trajectory plan in the automated driving operation once a feasible path is found using a nominal set of planning parameters by the vehicle planner module.