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:
May. 07, 2024
Filed:
May. 25, 2021
Ford Global Technologies, Llc, Dearborn, MI (US);
Scott Julian Varnhagen, Ann Arbor, MI (US);
Colen McAlister, Sunnyvale, CA (US);
Timothy Andrew Potts, Jr., Sunnyvale, CA (US);
David Breeden, Belmont, CA (US);
Pragati Satpute, Canton, MI (US);
Alice Kassar, Detroit, MI (US);
FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US);
Abstract
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.