US 12,443,191 B2
Methods and systems for performing inter-trajectory re-linearization about an evolving reference path for an autonomous vehicle
Scott Julian Varnhagen, Ann Arbor, MI (US); Alice Kassar, Detroit, MI (US); Ghassan Atmeh, Grosse Pointe Woods, MI (US); Neal Seegmiller, Pittsburgh, PA (US); and Ramadev Burigsay Hukkeri, Pittsburgh, PA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Nov. 2, 2022, as Appl. No. 18/051,982.
Application 18/051,982 is a continuation of application No. 16/901,322, filed on Jun. 15, 2020, granted, now 11,520,343.
Prior Publication US 2023/0288935 A1, Sep. 14, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); B60W 60/00 (2020.01)
CPC G05D 1/0214 (2013.01) [B60W 30/09 (2013.01); B60W 30/18163 (2013.01); B60W 60/0015 (2020.02); G05D 1/0088 (2013.01); B60W 2520/06 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2555/60 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method for generating a trajectory for an autonomous vehicle, comprising:
performing, by a computing device, a process comprising:
projecting an objective identified by a reference trajectory from a Cartesian reference frame to a curvilinear coordinate frame as a constraint indicating where the autonomous vehicle should be laterally in order to satisfy the objective;
generating an alternative trajectory having a refined lateral path for the autonomous vehicle based on the objective projected in the curvilinear coordinate; and
mapping the alternative trajectory having the refined lateral path from the curvilinear coordinate frame to the Cartesian reference frame;
comparing, by the computing device, the first alternative trajectory to the reference trajectory or a previously generated alternative trajectory to obtain at least one discrepancy measure;
selecting, by the computing device, whether to repeat the process based on the at least one discrepancy measure; and
repeating, by the computing device, the process using the alternative trajectory, in response to said selecting.