US 12,071,159 B2
Aerial view generation for vehicle control
Mianwei Zhou, Cupertino, CA (US)
Assigned to PlusAI, Inc., Santa Clara, CA (US)
Filed by PlusAI, Inc., Santa Clara, CA (US)
Filed on Mar. 2, 2023, as Appl. No. 18/116,813.
Application 18/116,813 is a continuation of application No. 17/877,726, filed on Jul. 29, 2022, granted, now 11,634,156.
Prior Publication US 2024/0034350 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 50/06 (2006.01); G06N 20/00 (2019.01)
CPC B60W 60/001 (2020.02) [B60W 50/06 (2013.01); G06N 20/00 (2019.01); B60W 2420/403 (2013.01); B60W 2556/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for at least partially autonomously driving a vehicle that includes one or more processors and memory, the method comprising:
obtaining a forward-facing view of a road captured by a front-facing camera of the vehicle;
processing the forward-facing view to determine (i) a trajectory of the vehicle, and (ii) a road layout based on a Frenet-Serret coordinate system of the road for the vehicle, where the road layout includes a lane line, and the trajectory includes a plurality of first points;
determining a curvature of the trajectory at each of the plurality of first points;
applying the curvature of the trajectory at each of the plurality of first points to a respective one of a plurality of second points associated with the lane line in the road layout; and
based on the road layout, at least partially autonomously driving the vehicle.