US 12,122,421 B2
Method for improving temporal consistency of planned maneuvers
Daniele Molinari, Redwood City, CA (US); and Constantin Hubmann, Menlo Park, 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 17, 2021, as Appl. No. 17/322,337.
Prior Publication US 2022/0371617 A1, Nov. 24, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/10 (2012.01)
CPC B60W 60/0011 (2020.02) [B60W 40/10 (2013.01); B60W 60/0021 (2020.02); B60W 2556/10 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A method of motion planning and maneuvering of an ego vehicle, the method comprising:
computing a set of potential vehicle maneuvers during a current motion planning cycle of the ego vehicle;
selecting a potential vehicle maneuver from the set of potential vehicle maneuvers;
determining a space corridor associated with the potential vehicle maneuver;
identifying, for the potential vehicle maneuver, space corridor compatible vehicle maneuvers from a set of vehicle maneuvers computed during a previous motion planning cycle and a set of currently executed maneuvers;
generating a compatibility list for the potential vehicle maneuver from the identified space corridor compatible vehicle maneuvers from the set of vehicle maneuvers computed during the previous motion planning cycle and the set of currently executed maneuvers;
prioritizing a currently executed vehicle maneuver when the compatibility list of the potential vehicle maneuver includes the currently executed vehicle maneuver; and
performing a vehicle control action to maneuver and control the ego vehicle to execute the prioritized potential vehicle maneuver.