Toyota Research Institute, Inc.

Constantin Hubmann

Daniele Molinari

A method of motion planning and maneuvering of an ego vehicle is described. The method includes determining a plurality of vehicle trajectories during motion planning of the ego vehicle. The method also includes enumerating the plurality of vehicle trajectories associated with a plurality of vehicle maneuvers into a qualitatively equivalent set of vehicle maneuvers. The method further includes performing a vehicle control action according to a selected one of the qualitatively equivalent set of vehicle maneuvers.

Method for enumerating homotopies for maneuvers using a hierarchy of tolerance relations

A method of motion planning and maneuvering of an ego vehicle is described. The method includes computing a set of potential vehicle maneuvers during a current motion planning cycle of the ego vehicle. The method also includes identifying, for the set of potential vehicle maneuvers, space corridor compatible vehicle maneuvers from a set of previously computed vehicle maneuvers during a previous motion planning cycle. The method further includes prioritizing a currently executed vehicle maneuver when the currently executed vehicle maneuver is a space corridor compatible vehicle maneuver with the set of potential vehicle maneuvers.

Method for improving temporal consistency of planned maneuvers

A method of determining a drivable space trajectory of an ego vehicle is described. The method includes determining a set of vehicle trajectories corresponding to a same semantic driving maneuver during motion planning of the ego vehicle. The method also includes identifying the drivable space trajectory to perform the same semantic driving maneuver. The method further includes performing a vehicle control action to maneuver the ego vehicle along the drivable space trajectory.

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Menlo Park, CA, United States of America

Constantin Hubmann