KR-20260065596-A - CONTROLLING AN AUTONOMOUS VEHICLE USING VARIABLE TIME PERIODS

Abstract

The subject matter described herein relates to systems and technologies for controlling autonomous vehicles. In one example, a first driving input set associated with a first time period is selected, and the first time period begins after a reference time. A second driving input set associated with a second time period is selected, and the second time period begins after the first time period, and the first time period and the second time period have different time lengths. Then, the vehicle operates based at least partially on the first driving input set and the second driving input set.

Inventors

• 안데르센 한스
• 바츠 재커리
• 우 닝

Assignees

• 모셔널 에이디 엘엘씨

Dates

Publication Date

20260508

Application Date

20260421

Priority Date

20210218

Claims (20)

1. In the system, At least one computer processor; and It includes at least one memory that stores instructions, When the above instruction is executed by the at least one computer processor, the at least one computer processor, While the vehicle is operating in autonomous driving mode: Selecting a first set of navigational inputs associated with a first time period using a control circuit—said that the first time period begins after a reference time—; Using the above control circuit to select a second driving input set associated with a second time period—wherein the second time period begins after the first time period, and the first time period and the second time period have different time lengths—; and Using the above control circuit to operate the vehicle based at least partially on the first driving input set and the second driving input set. A system that enables the performance of operations including
2. In claim 1, the system, wherein the first time period is smaller than the second time period.
3. In claim 1, the system, wherein the first time period is larger than the second time period.
4. A system in any one of paragraphs 1 to 3, wherein the reference time corresponds to the current time.
5. A system according to any one of claims 1 to 3, wherein the reference time corresponds to the time associated with the driving input set selected immediately before the first driving input set.
6. A system according to any one of claims 1 to 3, wherein the first time period corresponds to a first predetermined interval and the second time period corresponds to a second predetermined interval different from the first predetermined interval.
7. A system according to any one of claims 1 to 3, wherein the first time period and the second time period are based on the length of a predetermined time window.
8. In paragraph 7, the system, wherein the predetermined time window is based on the speed of the vehicle.
9. A system according to any one of claims 1 to 3, wherein the first time period and the second time period are based on an estimated prediction error for the position of the vehicle.
10. In any one of paragraphs 1 to 3, the instruction also causes the at least one computer processor, Using the above control circuit to select a third operation input set associated with a third time period—the third time period begins after the second time period, and the third time period has a different time length from the first time period and the second time period—; and A system that uses the above control circuit to perform an operation including operating the vehicle based at least partially on the first driving input set, the second driving input set, and the third driving input set.
11. In any one of paragraphs 1 to 3, the instruction also causes the at least one computer processor, Using the above control circuit to select a third operation input set associated with a third time period—the third time period starts after the second time period, and the third time period has the same time length as the second time period—; and A system that uses the above control circuit to perform an operation including operating the vehicle based at least partially on the first driving input set, the second driving input set, and the third driving input set.
12. A system according to any one of claims 1 to 3, wherein the first and second driving input sets include one or more of a reference trajectory, a lateral constraint, and a speed constraint.
13. A system according to any one of claims 1 to 3, wherein operating the vehicle comprises determining a control command for the vehicle based at least partially on the first driving input set and the second driving input set.
14. A system according to any one of claims 1 to 3, wherein operating the vehicle comprises determining the future state of the vehicle based at least partially on the first operation input set and the second operation input set.
15. In terms of method, While the vehicle is operating in autonomous driving mode: A step of selecting a first set of driving inputs associated with a first time period using a control circuit - said first time period starts after a reference time -; A step of selecting a second driving input set associated with a second time period using the above control circuit, wherein the second time period begins after the first time period, and the first time period and the second time period have different time lengths; and A step of operating the vehicle using the above control circuit based at least partially on the first driving input set and the second driving input set. A method including
16. In paragraph 15, the above first time period is smaller than the above second time period.
17. In paragraph 15, the method wherein the first time period is greater than the second time period.
18. A method according to any one of paragraphs 15 to 17, wherein the reference time corresponds to the current time.
19. A method according to any one of claims 15 to 17, wherein the reference time corresponds to the time associated with the driving input set selected immediately before the first driving input set.
20. A method according to any one of claims 15 to 17, wherein the first time period corresponds to a first predetermined interval and the second time period corresponds to a second predetermined interval different from the first predetermined interval.

Description

Controlling an Autonomous Vehicle Using Variable Time Periods This description relates to a system and technology for controlling an autonomous vehicle using a variable time period. Autonomous vehicles can be used to transport people and/or cargo (e.g., packages, goods, or other items) from one location to another. For example, an autonomous vehicle can navigate to a person's location, wait for the person to board, and drive to a designated destination (e.g., a location selected by the person). To operate in such environments, these autonomous vehicles are equipped with various types of sensors capable of detecting surrounding objects. The subject matter described herein relates to systems and technologies for controlling autonomous vehicles using variable time periods. Generally, the system is configured to select navigational inputs differently during a near-term time period than during a far-term time period. In particular, exemplary technology comprises: while the vehicle is operating in autonomous mode: using a control circuit to select a first driving input set associated with a first time period, wherein the first time period begins after a reference time; using a control circuit to select a second driving input set associated with a second time, wherein the second time period begins after the first time period, and the first time period and the second time period have different time lengths; and using a control circuit to drive the vehicle at least partially based on the first driving input set and the second driving input set. These and other modes, features, and implementations may be expressed as methods, devices, systems, components, program products, means, or steps for performing a function, and in other ways. These and other modes, features, and implementations will become apparent from the following description, including the claims. FIG. 1 illustrates an example of an autonomous vehicle having autonomous capability. Figure 2 illustrates an exemplary "cloud" computing environment. Figure 3 illustrates a computer system. Figure 4 illustrates an exemplary architecture for an autonomous vehicle. Figure 5 illustrates examples of inputs and outputs that can be used by the cognitive module. Figure 6 illustrates an example of a LiDAR system. Figure 7 illustrates a LiDAR system in operation. Figure 8 illustrates the operation of the LiDAR system in additional detail. Figure 9 illustrates a block diagram of the relationships between the inputs and outputs of the planning module. Figure 10 illustrates a directed graph used in path planning. Figure 11 illustrates a block diagram of the inputs and outputs of the control module. Figure 12 illustrates a block diagram of the inputs, outputs, and components of the controller. FIG. 13 illustrates an example of an autonomous vehicle operating on a road within an environment using a variable time period. FIG. 14 illustrates another example of an autonomous vehicle operating on a road within an environment using a variable time period. FIG. 15 is a flowchart of an exemplary process for controlling an autonomous vehicle using a variable time period. In the following description, numerous specific details are presented for illustrative purposes to provide a complete understanding of the invention. However, it will be apparent that the invention can be practiced without these specific details. In other cases, well-known structures and devices are illustrated in the form of block diagrams to avoid unnecessarily obscuring the invention. For ease of explanation, specific arrangements or sequences of schematic elements, such as those representing devices, modules, instruction blocks, and data elements, are depicted in the drawings. However, a person skilled in the art will understand that the specific order or arrangement of schematic elements in the drawings does not imply that a specific order or sequence of processing, or a separation of processes, is required. Furthermore, the inclusion of schematic elements in the drawings does not imply that such elements are required in all embodiments, or that features represented by such elements may not be included or combined with other elements in some embodiments. Furthermore, in the drawings, where connecting elements such as solid or dashed lines or arrows are used to illustrate a connection, relationship, or association between two or more different schematic elements, the absence of any such connecting elements does not imply that a connection, relationship, or association may not exist. In other words, some connections, relationships, or associations between elements are not depicted in the drawings to avoid obscuring the present disclosure. Additionally, for ease of illustration, a single connecting element is used to represent multiple connections, relationships, or associations between elements. For example, where a connecting element represents the communication of signals, data, or instructions, a person skilled