US 12,130,624 B2
Discrete decision architecture for motion planning system of an autonomous vehicle
Michael Lee Phillips, Pittsburgh, PA (US); Don Burnette, Mountain View, CA (US); Kalin Vasilev Gochev, Pittsburgh, PA (US); Somchaya Liemhetcharat, Pittsburgh, PA (US); Harishma Dayanidhi, Pittsburgh, PA (US); Eric Michael Perko, Pittsburgh, PA (US); Eric Lloyd Wilkinson, Pittsburgh, PA (US); Colin Jeffrey Green, Pittsburgh, PA (US); Wei Liu, Pittsburgh, PA (US); Anthony Joseph Stentz, Pittsburgh, PA (US); David Mcallister Bradley, Pittsburgh, PA (US); and Samuel Philip Marden, Pittsburgh, PA (US)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on Jan. 27, 2022, as Appl. No. 17/585,650.
Application 17/585,650 is a continuation of application No. 16/058,364, filed on Aug. 8, 2018, granted, now 11,262,756.
Claims priority of provisional application 62/617,417, filed on Jan. 15, 2018.
Prior Publication US 2022/0171390 A1, Jun. 2, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); B60W 30/095 (2012.01); B60W 30/12 (2020.01); B60W 30/16 (2020.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01); G01C 21/20 (2006.01); G01C 21/34 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0088 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 30/12 (2013.01); B60W 30/16 (2013.01); B60W 30/18163 (2013.01); B60W 50/0097 (2013.01); G01C 21/20 (2013.01); G01C 21/3453 (2013.01); G05D 1/0212 (2013.01); G05D 1/0214 (2013.01); G05D 1/0221 (2013.01); G05D 1/0223 (2013.01); B60W 2554/00 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computing system for controlling an autonomous vehicle, the computing system comprising:
one or more processors; and
one or more non-transitory computer-readable media that store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising:
determining a plurality of multi-dimensional spaces corresponding to a maneuver associated with a nominal path of the autonomous vehicle, the plurality of multi-dimensional spaces defining spaces and corresponding times in which the autonomous vehicle operates during the maneuver;
generating, for an object of interest, a constraint area in a respective multi-dimensional space of the plurality of multi-dimensional spaces, the constraint area representing a subset of the respective multi-dimensional space in which the autonomous vehicle cannot be located at particular times;
determining a multiplexed space using the plurality of multi-dimensional spaces;
determining a path across the multiplexed space that does not interfere with the constraint area; and
controlling motion of the autonomous vehicle based at least in part on the path.