System and method for controlling a vehicle
First Claim
1. A drivable path plan system comprising:
- a processor; and
a clothoid spline calculation module in communication with the processor, the clothoid spline calculation module configured to calculate a clothoid spline between an initial connection point on a first path element and a final connection point on a second path element, the clothoid spline comprising;
a first clothoid segment connected to the first path element at the initial connection point;
a second clothoid segment connected to the first clothoid segment at a second connection point; and
a third clothoid segment connected to the second clothoid segment at a third connection point, the third clothoid segment further connected to the second path element at the final connection point.
1 Assignment
0 Petitions
Accused Products
Abstract
Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
11 Citations
20 Claims
-
1. A drivable path plan system comprising:
-
a processor; and a clothoid spline calculation module in communication with the processor, the clothoid spline calculation module configured to calculate a clothoid spline between an initial connection point on a first path element and a final connection point on a second path element, the clothoid spline comprising; a first clothoid segment connected to the first path element at the initial connection point; a second clothoid segment connected to the first clothoid segment at a second connection point; and a third clothoid segment connected to the second clothoid segment at a third connection point, the third clothoid segment further connected to the second path element at the final connection point. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A method of calculating a drivable path plan comprising:
at a processor configured to calculate a drivable path plan; calculating a drivable path plan comprising a clothoid spline between an initial connection point on a first path element and a final connection point on a second path element, the clothoid spline comprising; a first clothoid segment connected to the first path element at the initial connection point; a second clothoid segment connected to the first clothoid segment at a second connection point; and a third clothoid segment connected to the second clothoid segment at a third connection point, the third clothoid segment further connected to the second path element at the final connection point. - View Dependent Claims (9, 10, 11, 12, 13, 14)
-
15. A computer program product for calculating a drivable path plan comprising:
-
a nontransitory computer readable medium; and computer program code, encoded on the nontransitory computer readable medium, configured to cause at least one processor to perform the steps of; calculating a drivable path plan comprising a clothoid spline between an initial connection point on a first path element and a final connection point on a second path element, the clothoid spline comprising; a first clothoid segment connected to the first path element at the initial connection point; a second clothoid segment connected to the first clothoid segment at a second connection point; and a third clothoid segment connected to the second clothoid segment at a third connection point, the third clothoid segment further connected to the second path element at the final connection point. - View Dependent Claims (16, 17, 18, 19, 20)
-
Specification