The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 11, 2018
Filed:
Mar. 07, 2017
Denso International America, Inc., Southfield, MI (US);
Denso Corporation, Kariya, Aichi-pref., JP;
Yunfei Xu, Milpitas, CA (US);
Takashi Bando, Mountain View, CA (US);
DENSO International America, Inc., Southfield, MI (US);
DENSO CORPORATION, Kariya, Aichi-pref., JP;
Abstract
A system and method are provided and include a subject vehicle having vehicle actuation systems and vehicle sensors. A planning system includes a global route planner module, an inference module, a motion planner module, and a trajectory follower module. The inference module receives a route from the global route planner module and dynamic obstacles data from a perception system and determines a total cost for different sets of motions associated with different trajectories for traveling along the received route. The total cost includes an inferred cost based on a probability of the associated set of motions having an increased or decreased cost based on the dynamic obstacles data. The motion planner selects a particular set of motions based on the total costs and generates a smooth trajectory for the vehicle. The trajectory follower module controls the vehicle actuation systems based on the smooth trajectory.