Denso Corporation

Waymo LLC

Abhinav Srinivas Sai Kiran Kunapareddy

Takashi Bando

Yunfei Xu

Maxim Likhachev

Lu Lyu

Akihito Iwai

Jonathan Michael Butzke

Savio Joseph Pereira

A multi-dimensional trajectory planning system is disclosed that includes planning and actuator modules. The planning module executes the planning application to: determine a first dimensionality including first dimensions for a first stage, where each of the first dimensions are active, and where the first dimensions include two or more dimensions; determine a second dimensionality including second dimensions for a second stage, where the second dimensions include the first dimensions or a subset of the first dimensions, and where the second stage has a lower level of dimensionality than the first stage; based on map data and sensor data, estimates first possible future states of the first dimensions for the first stage, and estimates second possible future states of the second dimensions for the second stage based on the first possible future states; and selects a trajectory plan based on the second possible future states.

Multi-dimensional extended trajectory planning with changing dimensionality based on horizon steps

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Sunnyvale, CA, United States of America

Abhinav Srinivas Sai Kiran Kunapareddy