US 11,987,247 B2
Scenario-based motion planning and control for coasting
Hyoungju Seo, Cupertino, CA (US); Chaozhe He, Clarence Center, NY (US); Xiaoyu Huang, San Jose, CA (US); Lichun Yang, Cupertino, CA (US); and Robert Joseph Dingli, Cupertino, CA (US)
Assigned to PlusAI, Inc., Cupertino, CA (US)
Filed by PlusAI, Inc., Cupertino, CA (US)
Filed on Jun. 20, 2022, as Appl. No. 17/844,637.
Prior Publication US 2023/0406309 A1, Dec. 21, 2023
Int. Cl. B60W 30/18 (2012.01); B60W 30/16 (2020.01); B60W 40/04 (2006.01); B60W 40/076 (2012.01); B60W 40/10 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/18072 (2013.01) [B60W 30/16 (2013.01); B60W 40/04 (2013.01); B60W 40/076 (2013.01); B60W 40/1005 (2013.01); B60W 60/0015 (2020.02); B60W 2300/12 (2013.01); B60W 2300/145 (2013.01); B60W 2510/0647 (2013.01); B60W 2520/105 (2013.01); B60W 2530/16 (2013.01); B60W 2552/15 (2020.02); B60W 2554/80 (2020.02); B60W 2555/20 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
estimating, by a computing system, coasting behavior of a vehicle;
identifying, by the computing system, a scenario associated with coasting in an environment of the vehicle;
based in part on the coasting behavior, generating, by the computing system, a trajectory associated with coasting for the vehicle to move in the scenario;
performing, by the computing system, a safety check on the coasting behavior, wherein the safety check comprises a first part associated with comparison of selected boundary values of coasting acceleration and a value of estimated coasting acceleration, wherein the selected boundary values of coasting acceleration include an upper bound value and a lower bound value of coasting acceleration values reflecting a feature of the environment, and wherein the coasting is associated with application of zero throttle while the vehicle is in gear;
providing, by the computing system, control signals to actuator subsystems of the vehicle to perform coasting by the vehicle; and
controlling, by the computing system, the vehicle to perform coasting in the scenario based on the control signals provided to the actuator subsystems.