公开(公告)号：US20240166237A1

公开(公告)日：2024-05-23

申请号：US18465132

申请日：2023-09-11

Applicant: Aurora Operations, Inc.

Inventor： James Andrew Bagnell ,  Shervin Javdani ,  Venkatraman Narayanan

IPC: B60W60/00 ,  B60W40/04

CPC classification number: B60W60/0011 ,  B60W40/04

Abstract: Example methods for multistage autonomous vehicle motion planning include obtaining sensor data descriptive of an environment of the autonomous vehicle; identifying one or more objects in the environment based on the sensor data; generating a plurality of candidate strategies, wherein each candidate strategy of the plurality of candidate strategies comprises a set of discrete decisions respecting the one or more objects, wherein generating the plurality of candidate strategies includes: determining that at least two strategies satisfy an equivalence criterion, such that the plurality of candidate strategies include at least one candidate strategy corresponding to an equivalence class representative of a plurality of different strategies that are based on different discrete decisions; determining candidate trajectories respectively for the plurality of candidate strategies; and initiating control of the autonomous vehicle based on a selected candidate trajectory.

公开(公告)号：US11787439B1

公开(公告)日：2023-10-17

申请号：US17989898

申请日：2022-11-18

Applicant: Aurora Operations, Inc.

Inventor： James Andrew Bagnell ,  Shervin Javdani ,  Venkatraman Narayanan

IPC: B60W60/00 ,  B60W40/04

CPC classification number: B60W60/00 ,  B60W40/04

Abstract: Example methods for multistage autonomous vehicle motion planning include obtaining sensor data descriptive of an environment of the autonomous vehicle; identifying one or more objects in the environment based on the sensor data; generating a plurality of candidate strategies, wherein each candidate strategy of the plurality of candidate strategies comprises a set of discrete decisions respecting the one or more objects, wherein generating the plurality of candidate strategies includes: determining that at least two strategies satisfy an equivalence criterion, such that the plurality of candidate strategies include at least one candidate strategy corresponding to an equivalence class representative of a plurality of different strategies that are based on different discrete decisions; determining candidate trajectories respectively for the plurality of candidate strategies; and initiating control of the autonomous vehicle based on a selected candidate trajectory.