US 12,240,491 B2
Motion planning for non-standard driving behaviors
Alireza Esna Ashari Esfahani, Novi, MI (US); and Upali P. Mudalige, Rochester Hills, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Dec. 6, 2022, as Appl. No. 18/062,310.
Prior Publication US 2024/0182063 A1, Jun. 6, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 30/0956 (2013.01); B60W 30/18163 (2013.01); B60W 50/14 (2013.01); B60W 2554/4046 (2020.02); B60W 2554/80 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A system for motion planning for a vehicle, the system comprising:
at least one vehicle sensor for determining information about an environment surrounding the vehicle; and
a controller in electrical communication with the at least one vehicle sensor, wherein the controller is programmed to:
perform a plurality of measurements of a remote vehicle using the at least one vehicle sensor, wherein the plurality of measurements includes at least a plurality of position measurements of the remote vehicle relative to the vehicle;
determine a risk score for each of a plurality of location cells in an environment surrounding the remote vehicle based at least in part on the plurality of measurements of the remote vehicle; and
adjust a planned path of the vehicle based at least in part on the risk score of each of the plurality of location cells in the environment surrounding the remote vehicle, wherein to adjust the planned path of the vehicle, the controller is further programmed to:
determine a behavior class of the remote vehicle based at least in part on the plurality of measurements of the remote vehicle, wherein the behavior class includes an intentional behavior class and an unintentional behavior class; and
adjust the planned path of the vehicle using a path determination algorithm based at least in part on the behavior class, wherein to adjust the planned path of the vehicle, the controller is further programmed to:
determine a behavior type of the remote vehicle in response to determining that the behavior class of the remote vehicle is the intentional behavior class, wherein the behavior type includes at least one of a tailgating behavior type, a road rage behavior type, and a wrong direction behavior type;
execute a tailgating supervisory action to adjust the planned path of the vehicle in response to determining that the behavior type of the remote vehicle is the tailgating behavior type;
execute a road rage supervisory action to adjust the planned path of the vehicle in response to determining that the behavior type of the remote vehicle is the road rage behavior type; and
execute a wrong direction supervisory action to adjust the planned path of the vehicle in response to determining that the behavior type of the remote vehicle is the wrong direction behavior type.