公开(公告)号：US20250058780A1

公开(公告)日：2025-02-20

申请号：US18235792

申请日：2023-08-18

Applicant: TORC Robotics, Inc.

Inventor： Adam SHOEMAKER ,  John BLANKENHORN ,  Garrett MADSEN ,  Joshua PETRIN ,  Ajay TULSYAN ,  Paul BROWN ,  Savio PEREIRA ,  William DAVIS ,  Daniel FERNÁNDEZ ,  Yexuan HAO

IPC: B60W30/18 ,  B60W60/00

Abstract: Systems and methods of generating lane selection cost maps to control autonomous vehicles are disclosed. An autonomous vehicle system can receive a plurality of cost values from a plurality of components of an autonomous vehicle; generate a lane selection cost map based on the plurality of cost values; determining that the autonomous vehicle should change lanes based on the lane selection cost map; and transmit a command that causes the autonomous vehicle to change lanes responsive to determining that the autonomous vehicle should change lanes.

公开(公告)号：US20250058781A1

公开(公告)日：2025-02-20

申请号：US18235795

申请日：2023-08-18

Applicant: TORC Robotics, Inc.

Inventor： Adam SHOEMAKER ,  John BLANKENHORN ,  Garrett MADSEN ,  Joshua PETRIN ,  Ajay TULSYAN ,  Paul BROWN ,  Savio PEREIRA ,  William DAVIS ,  Daniel FERNÁNDEZ ,  Yexuan HAO

IPC: B60W30/18 ,  B60W60/00

Abstract: Embodiments herein include systems and methods of generating lane selection cost values to control autonomous vehicles to accommodate merging vehicles in a tapering lane (or merge lane). An autonomy system can identify a tapering lane in map data and detect a merging vehicle situated in the tapering lane using perception sensor data. The autonomy system includes a lane-selection cost function that generates lane-selection cost values for the lanes available to the automated vehicle, which the autonomy system references to determine whether to continue traveling a current lane or change lanes into an adjacent lane. The lane-selection cost function may apply a courtesy weight when detecting the merging vehicle, such that the autonomy system causes the automated vehicle to change lanes as a courtesy to the merging vehicle, but without overriding other safety-related factors of the lane-selection cost function or trajectory planning functions.

公开(公告)号：US20250058803A1

公开(公告)日：2025-02-20

申请号：US18235793

申请日：2023-08-18

Applicant: TORC Robotics, Inc.

Inventor： Adam SHOEMAKER ,  John BLANKENHORN ,  Garrett MADSEN ,  Joshua PETRIN ,  Ajay TULSYAN ,  Paul BROWN ,  Savio PEREIRA ,  William DAVIS ,  Daniel FERNÁNDEZ ,  Yexuan HAO

IPC: B60W60/00 ,  G08G1/16

Abstract: Embodiments herein include systems and methods of generating lane selection cost values to control autonomous vehicles to accommodate merging vehicles in a tapering lane (or merge lane). An autonomy system can identify a tapering lane in map data and detect a merging vehicle situated in the tapering lane using perception sensor data. The autonomy system includes a lane-selection cost function that generates lane-selection cost values for the lanes available to the automated vehicle, which the autonomy system references to determine whether to continue traveling a current lane or change lanes into an adjacent lane. The lane-selection cost function may apply a courtesy weight when detecting the merging vehicle, such that the autonomy system causes the automated vehicle to change lanes as a courtesy to the merging vehicle, but without overriding other safety-related factors of the lane-selection cost function or trajectory planning functions.