Patent SG-11201808076U-A (SG)
Title: Facilitating vehicle driving and self-driving
Inventor: FRAZZOLI EMILIO
IPC: G05D1/02
Filed: 2017-03-20
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property -, Organization M1111101110101011111 010111110111011110110101111101111111011 III 11 International Bureau 0.. .1 j ..... ..or::,„, (10) International Publication Number (43) International Publication Date WO 2017/165286 Al 28 September 2017 (28.09.2017) WIP0 I P CT (51) International Patent Classification: AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, G05D 1/02 (2006.01) BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, (21) International Application Number: HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, PCT/US2017/023193 KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, (22) International Filing Date: MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, 20 March 2017 (20.03.2017) NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, (25) Filing Language: English TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, (26) Publication Language: English ZA, ZM, ZW. (30) Priority Data: (84) Designated States (unless otherwise indicated, for every 15/078,143 23 March 2016 (23.03.2016) US kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, (71) Applicant: NUTONOMY INC. [US/US]; One Broadway, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, Cambridge, Massachusetts 02142 (US). TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, (72) Inventors: FRAZZOLI, Emilio; 115 Jackson Street, Cam- LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, bridge, Massachusetts 02140 (US). IAGNEMMA, Karl; SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, 42 Hillside Terrace, Belmont, Massachusetts 02478 (US). GW, KM, ML, MR, NE, SN, TD, TG). (74) Agent: FEIGENBAUM, David L.; Fish and Richardson, Declarations under Rule 4.17: P.C., P.O. Box 1022, Minneapolis, Minnesota 55440-1022 = (US). — as to the applicant's entitlement to claim the priority of the earlier application (Rule 4.17(iii)) (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, = [Continued on next page] (54) Title: FACILITATING VEHICLE DRIVING AND SELF-DRIVING (57) : Among other things, an operation related to control of a = 1 2 vehicle is facilitated by actions that include the following. A finite set of can- didate trajectories of the vehicle is generated that begin at a location of the COMPUTER SYSTEM 8 vehicle as of a given time. The candidate trajectories are based on a state of 30 the vehicle and on possible behaviors of the vehicle and of the environment = = VEHICLE as of the location of the vehicle and the given time. A putative optimal tra - SENSORS 1 0 14 = jectory is selected from among the candidate trajectories based on costs asso- ciated with the candidate trajectories. The costs include costs associated with = 22 _ - AGENTS 2 GOAL 32 violations of rules of operation of the vehicle. The selected putative optimal trajectory is used to facilitate the operation related to control of the vehicle. = = 19 = RULES OF THE ROAD 16 - DRIVING PRACTICES 17 ) PASSENGER PREFERENCES -, = DRIVING RULES = DATA FROM VEHICLE TO VEHICLE COMMUNICATION, 26 = FIG. 1 \ r 22 DATA FROM SENSORS. 22 - ( MODEL WORLD .4 \ GOAL COMPUTER SYSTEM 18 1 . , 0 PASSENGER DESTINATION C PROCESS, 34 ALGORITHM PROCESS 28 INFORMATION ,z N 35 kin OBSTACLE INFORMATION, 24 11 TRAJECTORY, IN 11 © ei _--- --- \_„7 30 O WO 2017/165286 Al MIDEDIM000101011MOIDEDEMIEM111110111011111111110110111111 Published: — with international search report (Art. 21(3))