Abstract: A gap evaluation system for evaluating potential gaps for lane change operations of an autonomous vehicle, wherein the system is configured to receive, from the plurality of sensors, sensor data corresponding to a plurality of potential gaps, transmit sensor data to the at least one processor, generate a profile for each potential gap using the sensor data, retrieve a plurality of gap rules from the at least one memory, wherein each gap rule is directed to a characteristic of a potential gap and wherein each gap rule comprises a threshold value corresponding to the characteristic, evaluate each gap against the plurality of gap rules by comparing the profile for each potential gap to the threshold value of each gap rule, and generate a prioritized list of gaps based on the evaluation of the plurality of potential gaps.

Abstract: Embodiments disclosed herein include systems and methods for generating proposed driving paths for an automated vehicle performing a lane-change. An autonomy system continually generates reference trajectories. The autonomy system then iteratively and recursively generates clothoid points tracing the reference trajectory, by the computer, but constrained by clothoid thresholds. The clothoid points define a clothoid representing a revised trajectory, effectively constrained by the clothoid thresholds. The autonomy system generates and updates driving instructions for the automated vehicle to follow a drive path represented by the clothoid. If the autonomy system determines clothoid points cannot be generated according to the thresholds, then the autonomy system determines the automated vehicle cannot safely or practicably perform the lane change maneuver for the given portion of road.

Abstract: Embodiments disclosed herein include systems and methods for generating proposed driving paths for an automated vehicle performing a lane-change. An autonomy system continually generates reference trajectories. The autonomy system then iteratively and recursively generates clothoid points tracing the reference trajectory, by the computer, but constrained by clothoid thresholds. The clothoid points define a clothoid representing a revised trajectory, effectively constrained by the clothoid thresholds. The autonomy system generates and updates driving instructions for the automated vehicle to follow a drive path represented by the clothoid. If the autonomy system determines clothoid points cannot be generated according to the thresholds, then the autonomy system determines the automated vehicle cannot safely or practicably perform the lane change maneuver for the given portion of road.

Abstract: A gap evaluation system for evaluating potential gaps for lane change operations of an autonomous vehicle, wherein the system is configured to receive, from the plurality of sensors, sensor data corresponding to a plurality of potential gaps, transmit sensor data to the at least one processor, generate a profile for each potential gap using the sensor data, retrieve a plurality of gap rules from the at least one memory, wherein each gap rule is directed to a characteristic of a potential gap and wherein each gap rule comprises a threshold value corresponding to the characteristic, evaluate each gap against the plurality of gap rules by comparing the profile for each potential gap to the threshold value of each gap rule, and generate a prioritized list of gaps based on the evaluation of the plurality of potential gaps.

Abstract: Embodiments disclosed herein include systems and methods for generating proposed driving paths for an automated vehicle performing a lane-change. An autonomy system continually generates reference trajectories. The autonomy system then iteratively and recursively generates clothoid points tracing the reference trajectory, by the computer, but constrained by clothoid thresholds. The clothoid points define a clothoid representing a revised trajectory, effectively constrained by the clothoid thresholds. The autonomy system generates and updates driving instructions for the automated vehicle to follow a drive path represented by the clothoid. If the autonomy system determines clothoid points cannot be generated according to the thresholds, then the autonomy system determines the automated vehicle cannot safely or practicably perform the lane change maneuver for the given portion of road.