US 12,291,237 B2
Trajectory planning system for ensuring maneuvers to avoid moving obstacles exist for an autonomous vehicle
Daniel Aguilar Marsillach, Detroit, MI (US); Yubiao Zhang, Sterling Heights, 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 Oct. 5, 2022, as Appl. No. 17/938,192.
Prior Publication US 2024/0132104 A1, Apr. 25, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 50/00 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 50/0098 (2013.01); B60W 60/0013 (2020.02); B60W 2050/0026 (2013.01); B60W 2555/60 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A trajectory planning system for an autonomous vehicle, the trajectory planning system comprising:
one or more controllers in electronic communication with one or more external vehicle networks that collect data with respect to one or more moving obstacles located in an environment surrounding the autonomous vehicle, the one or more controllers executing instructions to:
determine a discrete-time relative vehicle state based on an autonomous vehicle dynamics model;
determine, based on the discrete-time relative vehicle state, a position avoidance set representing relative lateral positions and longitudinal positions that the autonomous vehicle avoids while bypassing the one or more moving obstacles when performing a maneuver;
determine a set of ego states for which the autonomous vehicle is unable to execute maneuvers without entering the position avoidance set for a set of given speed limits and road conditions;
compute a plurality of relative state trajectories for the autonomous vehicle, wherein the plurality of relative state trajectories avoid intersecting an evasion set for the set of ego states, wherein the one or more controllers determine the plurality of relative state trajectories for the autonomous vehicle based on an initial state of the autonomous vehicle, a final state of the autonomous vehicle, and one or more levels of driving aggression;
select a trajectory from the plurality of relative state trajectories for the autonomous vehicle; and
follow, by the autonomous vehicle, the trajectory while performing the maneuver.