{
  "$type": "site.standard.document",
  "description": "Techniques are discussed for generating and optimizing trajectories for autonomous vehicles using route-relative numerical integration relative to a reference path. A planner component of an autonomous vehicle, for example, can receive or generate a reference path corresponding to a route through…",
  "path": "/patents/1364169",
  "publishedAt": "2024-05-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W50/0097",
    "Zoox, Inc."
  ],
  "textContent": "Techniques are discussed for generating and optimizing trajectories for autonomous vehicles using route-relative numerical integration relative to a reference path. A planner component of an autonomous vehicle, for example, can receive or generate a reference path corresponding to a route through an environment. The current vehicle state, sideslip, and vehicle dynamics can be represented in a system of equations, such that the planner component can substantially simultaneously solve for subsequent trajectory states in a single convergence operation. In various examples, the subsequent trajectory states can be used to evaluate and determine candidate trajectories to control the autonomous vehicle to traverse the environment.",
  "title": "ROUTE-RELATIVE TRAJECTORY GENERATION AND OPTIMIZATION COMPUTATIONS INCORPORATING VEHICLE SIDESLIP"
}