US 11,679,783 B2
Method of and system for generating trajectory for self-driving car (SDC)
Victor Igorevich Otliga, Minsk (BY)
Assigned to YANDEX SELF DRIVING GROUP LLC, Moscow (RU)
Filed by YANDEX SELF DRIVING GROUP LLC, Moscow (RU)
Filed on Dec. 7, 2020, as Appl. No. 17/114,489.
Claims priority of application No. RU2019143605 (RU), filed on Dec. 24, 2019.
Prior Publication US 2021/0188327 A1, Jun. 24, 2021
Int. Cl. B60W 60/00 (2020.01); G05D 1/02 (2020.01)
CPC B60W 60/00274 (2020.02) [B60W 60/00276 (2020.02); G05D 1/0212 (2013.01); G05D 1/0287 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4046 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A method for generating a trajectory for a self-driving car (SDC), the SDC being associated with an electronic device, the method executable by the electronic device, the method comprising:
determining, by the electronic device, a presence of at least one third-party object around the SDC;
determining, by the electronic device, a current third-party object location;
generating, by the electronic device, a plurality of predicted trajectories for the third-party object based on the current third-party object location, at least one of the plurality of trajectories including a maneuver executable, by the third-party object, at a future third-party object location as part of executing the at least one of the plurality of trajectories;
calculating, for the at least one of the plurality of trajectories including the maneuver executable at the future third-party object location, a respective braking profile associated with the third-party object,
the respective braking profile being indicative of a speed adjustment maneuver of the third-party object to enable the third-party object to execute the maneuver at the future third-party object location, and
the respective braking profile including at least one of a maximum associated acceleration value and a maximum associated jerk value of the third-party object when executing the maneuver;
in response to the at least one of the maximum associated acceleration value and the maximum associated jerk value of the respective braking profile being above a respective pre-determined threshold value, eliminating an associated one of the at least one of the plurality of trajectories from future processing;
determining, by the electronic device, an SDC trajectory based on remaining ones of the plurality of predicted trajectories for the third-party object.