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. 03, 2024
Filed:
Sep. 30, 2021
Zoox, Inc., Foster City, CA (US);
Adrian Michael Costantino, Foster City, CA (US);
Marin Kobilarov, Baltimore, MD (US);
Mark Jonathon McClelland, San Francisco, CA (US);
Yunpeng Pan, Newark, CA (US);
Zoox, Inc., Foster City, CA (US);
Abstract
Controlling motion of an autonomous vehicle may comprise determining a state space representation of the environment associated with the autonomous vehicle based at least in part on sensor data. The autonomous vehicle may parameterize the state space according to arc length and lateral distance from a route reference. The autonomous vehicle may determine a state in the state space upon which to base trajectory generation (e.g., via a tree search, via a state space sampling technique based on cost) and may determine a set of control instructions (i.e., a trajectory) that would bring the autonomous vehicle to the arc length and lateral distance specified by the state. Determining the state for generating the trajectory may be based on a heuristic for determining approximately where the trajectory would bring the vehicle, since the arc length parameterized state space doesn't include an indication of location.