公开(公告)号：US20240326816A1

公开(公告)日：2024-10-03

申请号：US18194212

申请日：2023-03-31

Applicant: TORC Robotics, Inc.

Inventor： Harish KARUNAKARAN ,  Joseph ADKISSON ,  Pradeep ILLAYAPERUMAL SELVARAJU

IPC: B60W30/18 ,  B60W60/00

CPC classification number: B60W30/18163 ,  B60W60/001 ,  B60W2520/06

Abstract: Embodiments disclosed herein include systems and methods for generating proposed driving paths for an automated vehicle performing a lane-change. An autonomy system continually generates reference trajectories. The autonomy system then iteratively and recursively generates clothoid points tracing the reference trajectory, by the computer, but constrained by clothoid thresholds. The clothoid points define a clothoid representing a revised trajectory, effectively constrained by the clothoid thresholds. The autonomy system generates and updates driving instructions for the automated vehicle to follow a drive path represented by the clothoid. If the autonomy system determines clothoid points cannot be generated according to the thresholds, then the autonomy system determines the automated vehicle cannot safely or practicably perform the lane change maneuver for the given portion of road. As the autonomy system may continually generate the reference trajectories, the autonomy system may proceed to analyzing a next reference trajectory to perform the lane change maneuver.