System and method for controlling autonomous vehicles
First Claim
1. A method for controlling a vehicle, comprising:
- determining iteratively a motion of the vehicle from an initial location and a target location, wherein the motion is defined by state transitions connecting states of the vehicle, each state includes a location, a velocity and a heading of the vehicle, wherein the motion is determined iteratively until a termination condition is met, wherein an iteration comprises;
determining a location between the initial location and the target location, wherein the location satisfies spatial constraints on locations of the vehicle;
determining state transitions of the vehicle moved to the location from a set of neighboring locations determined during previous iterations, wherein each state transition satisfies constraints on a motion of the vehicle;
selecting a neighboring location resulting in an optimal state transition of the vehicle from the state at the neighboring location to the state at the location; and
updating a graph of state transitions of the vehicle determined during previous iterations with the optimal state transition;
determining the motion of the vehicle as a sequence of state transitions connecting the initial location with the target location; and
controlling the vehicle according to the determined motion, wherein steps of the method are performed by a processor of the vehicle.
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Abstract
A method determines iteratively a motion of the vehicle from an initial location and a target location. An iteration of the method determines a location between the initial location and the target location that satisfies spatial constraints on locations of the vehicle and determines state transitions of the vehicle moved to the location from a set of neighboring locations determined during previous iterations. The method selects a neighboring location resulting in an optimal state transition of the vehicle and updates a graph of state transitions of the vehicle determined during previous iterations with the optimal state transition. The motion of the vehicle is determined a sequence of state transitions connecting the initial location with the target location and the vehicle is controlled according to the determined motion.
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Citations
20 Claims
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1. A method for controlling a vehicle, comprising:
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determining iteratively a motion of the vehicle from an initial location and a target location, wherein the motion is defined by state transitions connecting states of the vehicle, each state includes a location, a velocity and a heading of the vehicle, wherein the motion is determined iteratively until a termination condition is met, wherein an iteration comprises; determining a location between the initial location and the target location, wherein the location satisfies spatial constraints on locations of the vehicle; determining state transitions of the vehicle moved to the location from a set of neighboring locations determined during previous iterations, wherein each state transition satisfies constraints on a motion of the vehicle; selecting a neighboring location resulting in an optimal state transition of the vehicle from the state at the neighboring location to the state at the location; and updating a graph of state transitions of the vehicle determined during previous iterations with the optimal state transition; determining the motion of the vehicle as a sequence of state transitions connecting the initial location with the target location; and controlling the vehicle according to the determined motion, wherein steps of the method are performed by a processor of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A control system of a vehicle, comprising:
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a navigation system to determine an initial location and a target location of the vehicle; a vehicle controller to control a motion of the vehicle; and a motion-planning system including a processor and a memory storing the initial location and the target location, wherein the motion-planning system iteratively determines state transitions moving the vehicle to a location from a plurality of neighboring locations having states determined during previous iterations to produce a graph of state transitions of the vehicle, wherein the motion-planning system determines the motion of the vehicle as a sequence of state transitions connecting the initial location with the target location, and submits the motion to the vehicle controller. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification