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:
Jan. 02, 2018
Filed:
Mar. 24, 2016
Honda Motor Co., Ltd., Minato-ku, Tokyo, JP;
Rakesh Gupta, Saratoga, CA (US);
Robert Cofield, Bessemer, AL (US);
HONDA MOTOR CO., LTD., Tokyo, JP;
Abstract
A trajectory planning system for an autonomous vehicle fits a jerk profile including a plurality of phases within a set of acceptable parameters, a jerk value being constant within each phase of the jerk profile. The system parameterizes the jerk profile based on an initial velocity, an initial acceleration, a final velocity, and a final acceleration for the first segment. The system then integrates the jerk profile to determine a first trajectory function, the first trajectory function including a speed for the vehicle at a given time. The system guides the vehicle along the first segment of the path according to the first trajectory function. The system detects an unplanned obstacle along the first segment of the path. The system plans a second trajectory function for a second segment of the path between a current location of the vehicle and a location on the path before the unplanned obstacle.