US 12,293,592 B2
Vehicle trajectory planning
Ron M. Hecht, Raanana (IL); Ariel Telpaz, Givat Haim Meuhad (IL); Yael Shmueli Friedland, Tel Aviv (IL); Asaf Degani, Tel Aviv (IL); Michael Baltaxe, Kfar Sava (IL); and Andrea Forgacs, Kfar Sava (IL)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Feb. 20, 2023, as Appl. No. 18/171,517.
Prior Publication US 2024/0282121 A1, Aug. 22, 2024
Int. Cl. G06V 20/58 (2022.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G06V 20/56 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 50/14 (2013.01); B60W 60/001 (2020.02); G06V 20/58 (2022.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system for vehicle trajectory planning, comprising:
a polarized camera system configured to generate polarized images of a roadway to be driven over with a vehicle, the polarized images capturing polarization information for the roadway;
a prior controller configured to generate a prior for the roadway based at least in part on the polarization information, the prior representing one or more prior pathways other vehicles previously traversed when traveling over the roadway; and
a driving assistance system configured to provide a driving assistance according to the prior, the driving assistance providing guidance for driving the vehicle over the roadway relative to one or more of the prior pathways;
wherein the prior controller is configured to determine surface quality for the one or more prior pathways based at least in part on an angle of linear polarization (AoLP) and a degree of linear polarization (DoLP) captured with the polarized images, and
wherein the prior controller is configured to identify in the prior a dominant pathway of the prior pathways based on a differentiation in the surface qualities of the prior pathways.