Ford Global Technolgoies, LLC

University of Michigan

Enric Galceran

Edwin B Olson

James McBride

Ryan M Eustice

Alexander Glencairn Cunningham

A system includes a computer programmed to identify, from a first vehicle, one or more second vehicles within a specified distance to the first vehicle. The computer is further programmed to receive data about operations of each of the second vehicles, including trajectory data. Based on the data, the computer is programmed to identify, for each of the second vehicles, a distribution of probabilities of each of a set of potential planned trajectories. The computer is further programmed to determine a planned trajectory for the first vehicle, based on the respective distributions of probabilities of each of the set of potential planned trajectories for each of the second vehicles. The computer is further programmed to provide an instruction to at least one controller associated with the first vehicle based on the determined planned trajectory.

Vehicle trajectory determination

A system includes a computer programmed to determine, along a nominal path to be traversed by a vehicle, a potential field representing a driving corridor for the vehicle. The computer is further programmed to identify a position of the vehicle relative to the potential field at a current time, and apply a torque to q steering column of the vehicle. The torque is based at least in part on the position. The potential field includes an attractive potential that guides the vehicle to remain within the corridor.

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Zurich, Switzerland

Enric Galceran