US 12,030,485 B2
Vehicle operation using maneuver generation
Juraj Kabzan, Singapore (SG); and Emilio Frazzoli, Newton, MA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Dec. 7, 2021, as Appl. No. 17/544,526.
Claims priority of provisional application 63/142,882, filed on Jan. 28, 2021.
Prior Publication US 2022/0234575 A1, Jul. 28, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/02 (2006.01); G05D 1/02 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 40/02 (2013.01); B60W 60/0013 (2020.02); B60W 60/0016 (2020.02); B60W 2552/53 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
generating, by at least one processor of a vehicle, a plurality of trajectories for the vehicle based on a road segment traveled by the vehicle;
receiving, by the at least one processor, sensor data from at least one sensor of the vehicle, the vehicle traveling the road segment in accordance with a first trajectory of the plurality of trajectories;
predicting, by the at least one processor, a potential collision between the vehicle and an object moving on the road segment based on the sensor data and the first trajectory;
determining, by the at least one processor, a set of constraints for the vehicle to avoid the potential collision, the set of constraints determined based on the sensor data;
determining, by the at least one processor, a maneuver for the vehicle by superimposing each constraint of the set of constraints on each other constraint of the set of constraints, the maneuver comprising a second trajectory independent of the plurality of trajectories; and
transmitting, by the at least one processor, instructions to a control circuit of the vehicle to:
override the first trajectory; and
traverse the road segment according to the second trajectory to perform the maneuver.