Dynamic routing for autonomous vehicles
First Claim
1. A method for maneuvering a vehicle, the method comprising:
- generating, by one or more processors, a route for a trip from a first location to a destination using map information, the map information including roadway segments defining the shape and location of roadways, the map information also identifying at least one no-go roadway segment defining roadway segments where the vehicle is not able to drive in an autonomous mode;
identifying, by the one or more processors, from the map information, a set of no-go roadway segments relevant to the route from the plurality of no-go roadway segments;
determining, by the one or more processors, a local region around a current location of the vehicle, the local region corresponding to a geographic area including both locations that the vehicle is able to reach from the current location within a pre-determined period of time as well as a region behind the vehicle at the current location;
identifying, by the one or more processors, a local map region by performing a graph cut on the map information, the local map region including roadway segments of the map information;
filtering, by the one or more processors, the set of the plurality of no-go roadway segments from the roadway segments of the local map region;
assigning, by the one or more processors, a cost value to each roadway segment of the filtered roadway segments of the local map region;
using, by the one or more processors, any assigned cost values to determining a plan for maneuvering the vehicle for a predetermined period of time into the future; and
maneuvering, by the one or more processors, the vehicle according to the plan.
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Accused Products
Abstract
A route for a trip to a destination is generated using map information. A set of no-go roadway segments, where the vehicle is not able to drive in an autonomous mode, relevant to the route from the plurality of no-go roadway segments is identified from the map information. A local region around a current location of the vehicle is determined. A local map region including roadway segments of the map information that correspond to locations within the local region is determined. The set of the plurality of no-go roadway segments is filtered from the roadway segments of the local map region. A cost value is assigned to each roadway segment of the filtered roadway segments of the local map region. Any assigned cost values are used to determining a plan for maneuvering the vehicle for a predetermined period into the future. The vehicle is maneuvered according to the plan.
22 Citations
20 Claims
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1. A method for maneuvering a vehicle, the method comprising:
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generating, by one or more processors, a route for a trip from a first location to a destination using map information, the map information including roadway segments defining the shape and location of roadways, the map information also identifying at least one no-go roadway segment defining roadway segments where the vehicle is not able to drive in an autonomous mode; identifying, by the one or more processors, from the map information, a set of no-go roadway segments relevant to the route from the plurality of no-go roadway segments; determining, by the one or more processors, a local region around a current location of the vehicle, the local region corresponding to a geographic area including both locations that the vehicle is able to reach from the current location within a pre-determined period of time as well as a region behind the vehicle at the current location; identifying, by the one or more processors, a local map region by performing a graph cut on the map information, the local map region including roadway segments of the map information; filtering, by the one or more processors, the set of the plurality of no-go roadway segments from the roadway segments of the local map region; assigning, by the one or more processors, a cost value to each roadway segment of the filtered roadway segments of the local map region; using, by the one or more processors, any assigned cost values to determining a plan for maneuvering the vehicle for a predetermined period of time into the future; and maneuvering, by the one or more processors, the vehicle according to the plan. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system for maneuvering a vehicle, the system comprising one or more processors configured to:
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generate a route for a trip from a first location to a destination using map information, the map information including roadway segments defining the shape and location of roadways, the map information also identifying a plurality of no-go roadway segments defining roadway segments where the vehicle is not able to drive in an autonomous mode; identify a set of no-go roadway segments relevant to the route from the plurality of no-go roadway segments; determine a local region around a current location of the vehicle, the local region corresponding to a geographic area including both locations that the vehicle is able to reach from the current location within a pre-determined period of time as well as a region behind the vehicle at the current location; identify a local map region by performing a graph cut on the map information, the local map region including roadway segments of the map information; filter the set of the plurality of no-go roadway segments from the roadway segments of the local map region; assign a cost value to each roadway segment of the filtered roadway segments of the local map region; use any assigned cost values to determining a plan for maneuvering the vehicle for a predetermined period into the future; and maneuver the vehicle according to the plan. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A non-transitory, computer readable medium on which instructions are stored, the instructions, when performed by one or more processors, cause the one or more processors to perform a method for maneuvering a vehicle, the method comprising:
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generating a route for a trip from a first location to a destination using map information, the map information including roadway segments defining the shape and location of roadways, the map information also identifying a plurality of no-go roadway segments defining roadway segments where the vehicle is not able to drive in an autonomous mode; identifying a set of no-go roadway segments relevant to the route from the plurality of no-go roadway segments; determining a local region around a current location of the vehicle, the local region corresponding to a geographic area including both locations that the vehicle is able to reach from the current location within a pre-determined period of time as well as a region behind the vehicle at the current location; identifying a local map region by performing a graph cut on the map information, the local map region including roadway segments of the map information; filtering the set of no-go roadway segments from the roadway segments of the local map region; assigning a cost value to each roadway segment of the filtered roadway segments of the local map region; using any assigned cost values to determining a plan for maneuvering the vehicle for a predetermined period into the future; and maneuvering the vehicle according to the plan.
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Specification