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:
Dec. 09, 2025
Filed:
Mar. 28, 2022
Denso Corporation, Kariya, JP;
Waymo Llc, Mountain View, CA (US);
Maxim Likhachev, Pittsburgh, PA (US);
Ellis Ratner, Oakland, CA (US);
Lu Lyu, Medford, MA (US);
Abhinav Srinivas Sai Kiran Kunapareddy, Sunnyvale, CA (US);
Savio Joseph Pereira, Blacksburg, VA (US);
Jonathan Michael Butzke, Pittsburgh, PA (US);
Yunfei Xu, Milpitas, CA (US);
Takashi Bando, Mountain View, CA (US);
Akihito Iwai, San Jose, CA (US);
DENSO CORPORATION, Kariya, JP;
Waymo LLC, Mountain View, CA (US);
Abstract
A multi-dimensional trajectory planning system is disclosed that includes planning and actuator modules. The planning module executes the planning application to: determine a first dimensionality including first dimensions for a first stage, where each of the first dimensions are active, and where the first dimensions include two or more dimensions; determine a second dimensionality including second dimensions for a second stage, where the second dimensions include the first dimensions or a subset of the first dimensions, and where the second stage has a lower level of dimensionality than the first stage; based on map data and sensor data, estimates first possible future states of the first dimensions for the first stage, and estimates second possible future states of the second dimensions for the second stage based on the first possible future states; and selects a trajectory plan based on the second possible future states.