Patent ID: 11884304
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 16:
17. A computer program product for maneuvering an autonomous vehicle (AV) traversing a route on a roadway, comprising at least one non-transitory computer-readable medium including one or more instructions that, when executed by one or more processors, cause the one or more processors to:
receive forecast information associated with one or more predicted trajectories of an actor in a roadway;
regenerate a distance table for a relevant trajectory of an action, using an original distance table which was previously generated for processing constraints, the relevant trajectory being based on a forecast for one or more predicted trajectories of the actor with a trajectory of the AV;
generate a plurality of margins for the AV to evaluate, the margins based on a plurality of margin types for providing information about risks and effects on passenger comfort associated with a future proximity of the AV to the actor;
generate continuous scores for each candidate trajectory from among a plurality of trajectories, wherein each candidate trajectory is within a margin of the actor generated for the relevant trajectory; and
issue a command to control the AV based on the continuous scores, to maneuver with respect to a plurality of constraints in the roadway, wherein:
the continuous scores for each candidate trajectory is generated based on one or more of:
a penalty configured by transforming a margin value at a time interval into the penalty;
a discount factor to account for increasing uncertainty about interactions that will be performed further in future, wherein a subsequent time interval is offset from a start of a planning cycle;
an actor-type factor, discounting parameters per actor type, including at least one of a vehicle, a crosswalk-following pedestrian, other pedestrian, cyclist, or other object, to apply based on interaction classifications; or
a social acceptability factor that classifies a decision taken by a candidate trajectory with respect to the margins to a plurality of actors simultaneously.