Toyota Research Institute, Inc.

Toyota Jidosha Kabushiki Kaisha

Daniele Molinari

Constantin Hubmann

Constantin Franziskus Dominik Hubmann

Sudeep Pillai

Kuan-Hui Lee

Kun-Hsin Chen

Chao Fang

Jia-En M Pan

Logan Michael Ellis

Ryan Marcotte

T Wolfram Burgard

Harsh Virendra Pandya

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 system for producing a trajectory from a diverse set of possible movements can include a processor and a memory. The memory can store a possible movement production module and a trajectory production module. The possible movement production module can include instructions that cause the processor to: (1) produce a set of possible movements of a mobile robot with respect to a challenge, (2) determine a measure of diversity between a first possible movement and a second possible movement, and (3) produce a subset. Measures of diversity associated with possible movements included in the subset can be larger than measures of diversity associated with possible movements excluded from the subset. The trajectory production module can include instructions that cause the processor to: (1) produce trajectories associated with the possible movements included in the subset and (2) cause the mobile robot to move according to one of the trajectories.

Producing a trajectory from a diverse set of possible movements

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 to select between tactical driving decisions of a controlled ego vehicle to reach a target destination is described. The method includes determining upcoming tactical driving decisions of the controlled ego vehicle to reach the target destination according to a mission plan. The method also includes ranking upcoming tactical driving maneuvers associated with each of the upcoming tactical driving decisions. The method further includes selecting a tactical driving maneuver prior to a critical intersection according to the ranking of the upcoming tactical driving maneuvers to reach the target destination according to the mission plan.

Navigation cost computation for lane changes before a critical intersection

Described herein are systems and methods for determining if a vehicle is parked. In one example, a system includes a processor, a sensor system, and a memory. Both the sensor system and the memory are in communication with the processor. The memory includes a parking determination module having instructions that, when executed by the processor, cause the processor to determine, using a random forest model, when the vehicle is parked based on vehicle estimated features, vehicle learned features, and vehicle taillight features of the vehicle that are based on sensor data from the sensor system.

System and method for determining if a vehicle is parked

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.

Method for computing maneuvers drivable space using piecewise semantic aggregation of trajectories

A method of improving a merging efficiency of an ego vehicle is described. The method includes determining one or more merge gaps between vehicles in a target lane of a multilane highway. The method also includes computing an exposure time in which the ego vehicle is specified to merge into the one or more merge gaps. The method further includes selecting a merge gap between a first vehicle and a second vehicle in the target lane of the multilane highway having a maximum exposure time.

Merge situation exposure algorithms to maximize exposure time

System, methods, and other embodiments described herein relate to improving a representation of objects in a surrounding environment. In one embodiment, a method includes, in response to receiving sensor data depicting the surrounding environment including a corridor that defines a left boundary and a right boundary, identifying at least one object from the sensor data. The method includes transforming segmented data from the sensor data that represents the object into a bounding box by defining the bounding box according to six points relative to the corridor. The method includes providing the six points of the bounding box as a reduced representation of the object.

Growing community of inventors

Sunnyvale, CA, United States of America

Daniele Molinari