Ford Global Technolgoies, LLC

Pragati Satpute

Ramadev Burigsay Hukkeri

Alice Kassar

Scott Julian Varnhagen

John Russell Lepird

Colen McAlister

David Breeden

Timothy Andrew Potts, Jr

Disclosed herein are system, method, and computer program product aspects for enabling an autonomous vehicle (AV) to react to objects posing a risk to the AV. The system can monitor an object within a vicinity of the AV. A plurality of trajectories predicting paths the object will take can be generated, the plurality of trajectories being based on a plurality of inputs indicating current and past characteristics of the object. Using a learned model, a forecasted position of the object at an instance in time can be generated. An error value representing how accurate the forecasted position is versus an observed position of the object can be stored. Error values can be accumulated over a period of time. A risk factor can be assigned for the object based on the accumulated error values. A maneuver for the AV can be performed based on the risk factor.

Integrated trajectory forecasting, error estimation, and vehicle handling when detecting an observed scenario

Methods of refining a planned trajectory of an autonomous vehicle are disclose. For multiple cycles as the vehicle moves along the trajectory, the vehicle will perceive nearby objects. The vehicle will use the perceived object data to calculate a set of candidate updated trajectories. The motion planning system will measure a discrepancy between each candidate updated trajectory and the current trajectory by: (i) determining waypoints along each trajectory; (ii) determining distances between at least some of the waypoints; and (iii) using the distances to measure the discrepancy between the updated trajectory and the current trajectory. The system will use the discrepancy to select, from the set of candidate updated trajectories, a final updated trajectory for the vehicle to follow.

Trajectory consistency measurement for autonomous vehicle operation

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Canton, MI, United States of America

Pragati Satpute