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:
Jul. 19, 2022
Filed:
Sep. 08, 2020
Uatc, Llc, San Francisco, CA (US);
Michael Lee Phillips, Pittsburgh, PA (US);
David McAllister Bradley, Pittsburgh, PA (US);
Utku Eren, Pittsburgh, PA (US);
Chenggang Liu, Pittsburgh, PA (US);
Daoyuan Jia, Pittsburgh, PA (US);
Eric Michael Perko, Pittsburgh, PA (US);
Samuel Philip Marden, Pittsburgh, PA (US);
Kalin Vasilev Gochev, Pittsburgh, PA (US);
Moslem Kazemi, Allison Park, PA (US);
UATC, LLC, Mountain View, CA (US);
Abstract
The present disclosure is directed generating candidate trajectories and selecting one of them to be implemented. In particular, a computing system can obtain an initial travel path for an autonomous vehicle. The computing system can obtain sensor data describing objects within an environment of the autonomous vehicle. The computing system can generate a plurality of trajectories for the autonomous vehicle based on the sensor data and the initial travel path. The computing system can determine whether the initial travel path, an offset profile, and a velocity profile meet flatness criteria. In response to determining that the initial travel path, the offset profile, and the velocity profile meet the flatness criteria, the computing system can combine the initial travel path, the offset profile, and the velocity profile into the respective trajectory. The computing system can determine a trajectory from the plurality of trajectories.