Methods and systems for smooth trajectory generation for a self-driving vehicle
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United States of America Patent
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Sep 1, 2015
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app pub date -
Sep 14, 2012
filing date -
Sep 14, 2012
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Abstract
A vehicle configured to operate in an autonomous mode is provided. The vehicle is configured to follow a baseline trajectory. Changes to the baseline trajectory are received by a computer system associated with the vehicle. The computer system creates a function representing the current trajectory of the vehicle, as well as one or more functions defining any desired trajectory criteria, and generates an optimization problem from the functions, which, when solved, provide a new trajectory for the vehicle to follow that moves efficiently and smoothly toward the changed baseline trajectory.
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