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Dynamic routing for autonomous vehicles

  • US 10,042,362 B2
  • Filed: 11/18/2016
  • Issued: 08/07/2018
  • Est. Priority Date: 11/18/2016
  • Status: Active Grant
First Claim
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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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