US 12,222,722 B2
Platform for path planning system development for automated driving system
Magnus Gyllenhammar, Pixbo (SE); Carl Zandén, Lindome (SE); and Majid Khorsand Vakilzadeh, Mölndal (SE)
Assigned to Zenseact AB, Gothenburg (SE)
Filed by Zenseact AB, Gothenburg (SE)
Filed on Apr. 26, 2022, as Appl. No. 17/729,470.
Claims priority of application No. 21171222 (EP), filed on Apr. 29, 2021.
Prior Publication US 2022/0350336 A1, Nov. 3, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0217 (2013.01); G05D 1/0221 (2013.01); G05D 1/0223 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method performed by an in-vehicle computing system for automated development of a path planning development-module of a vehicle, wherein the vehicle is equipped with an Automated Driving System, ADS, the method comprising:
obtaining a candidate path from the path planning development-module, wherein the path planning development-module is configured to generate the candidate path for execution by the vehicle based on a path planning model and data indicative of the surrounding environment of the vehicle;
obtaining a risk map of a surrounding environment of the vehicle, wherein the risk map is formed based on an actuation capability of the vehicle and a location of free-space areas in the surrounding environment, the actuation capability including an uncertainty estimation for the actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas,
wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle, and
wherein the risk map further has a temporal component indicative of a time evolution of the risk parameters of the area segments based on a predicted temporal evolution of the free-space areas for at least a duration of time defined by a predicted duration of the candidate path;
determining a risk value for the candidate path based on the risk parameters of the area segments to be intersected by the candidate path; and
if the determined risk value satisfies at least one risk criterion, the method further comprises:
generating, at an output, a first control signal indicative of an instruction for the ADS to execute the candidate path;
obtaining at least one quality parameter of the executed candidate path, wherein the at least one quality parameter is indicative of a performance of the candidate path in terms of quality and/or comfort of the executed candidate path;
determining a cost function indicative of a performance of the path planning development-module based on the obtained at least one quality parameter; and
updating one or more parameters of the path planning model by means of an optimization algorithm configured to optimize the determined cost function.