US 12,485,887 B2
Collision aware path planning systems and methods
Ryan Chilton, Blacksburg, VA (US)
Assigned to TORC Robotics, Inc., Blacksburg, VA (US)
Filed by TORC Robotics, Inc., Blacksburg, VA (US)
Filed on Mar. 31, 2023, as Appl. No. 18/194,243.
Claims priority of provisional application 63/434,850, filed on Dec. 22, 2022.
Prior Publication US 2024/0208492 A1, Jun. 27, 2024
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/095 (2013.01) [B60W 30/09 (2013.01); B60W 60/0015 (2020.02); B60W 2554/20 (2020.02); B60W 2554/402 (2020.02); B60W 2554/80 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a processor associated with an autonomous vehicle, an indication that a current trajectory of the autonomous vehicle is associated with a likelihood of a collision that satisfies a threshold indicating a potential collision;
identifying, by the processor, an alternative trajectory for the vehicle;
when the alternative trajectory has a likelihood of collision that satisfies the threshold indicating a potential collision, calculating, by the processor, a cost value for the current trajectory and the alternative trajectory, wherein the cost value is based on a speed of a second vehicle associated with the potential collision; and
transmitting, by the processor, an input of a trajectory having a lowest cost value to a vehicle control module of the autonomous vehicle.