US 12,110,040 B2
Navigation cost computation for lane changes before a critical intersection
Daniele Molinari, Sunnyvale, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on May 29, 2020, as Appl. No. 16/888,342.
Prior Publication US 2021/0370978 A1, Dec. 2, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01); G01C 21/34 (2006.01); G06N 3/04 (2023.01); G08G 1/16 (2006.01); H04W 4/46 (2018.01)
CPC B60W 60/0025 (2020.02) [B60W 30/18154 (2013.01); B60W 30/18163 (2013.01); G01C 21/3453 (2013.01); G06N 3/04 (2013.01); G08G 1/167 (2013.01); H04W 4/46 (2018.02); B60W 2556/65 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method to select between tactical driving decisions of a controlled ego vehicle to reach a target destination, the method comprising:
determining upcoming tactical driving decisions of the controlled ego vehicle to reach the target destination according to a mission plan;
ranking upcoming tactical driving maneuvers associated with each of the upcoming tactical driving decisions;
selecting a tactical driving maneuver prior to a critical intersection according to the ranking of the upcoming tactical driving maneuvers to reach the target destination according to the mission plan, in which the critical intersection comprises an intersection in which the ego vehicle is to make a turn based on the mission plan to reach the target destination;
performing the selected tactical driving maneuver prior to the critical intersection; and
turning the ego vehicle at the intersection and performing one or more selected ones of the upcoming tactical driving maneuvers to reach the target destination according to the mission plan.