US 11,780,464 B2
Autonomous vehicle trajectory generation using velocity-based steering limits
Joseph Funke, Redwood City, CA (US); Steven Cheng Qian, San Francisco, CA (US); Kazuhide Okamoto, Mountain View, CA (US); Jacob Patrick Thalman, San Francisco, CA (US); Sriram Narayanan, San Jose, CA (US); and Liam Gallagher, San Francisco, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Dec. 17, 2021, as Appl. No. 17/555,004.
Prior Publication US 2023/0192127 A1, Jun. 22, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 50/00 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 50/00 (2013.01); B60W 2050/006 (2013.01); B60W 2050/0026 (2013.01); B60W 2510/20 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
determining a vehicle state associated with a vehicle in a driving environment, the vehicle state comprising a speed associated with the vehicle;
determining a driving condition associated with the driving environment;
receiving, based at least in part on the vehicle state and the driving condition, a steering limit table;
determining a steering limit function based on the steering limit table;
determining steering data associated with the vehicle;
determining, based at least in part on the steering data and the steering limit function, a cost value;
determining, based at least in part on the cost value, a trajectory; and
controlling the vehicle in the driving environment based at least in part on the trajectory.