Systems and methods for obstacle avoidance and path planning in autonomous vehicles
First Claim
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1. A path planning method for a vehicle, the method comprising:
- establishing a first path for a first vehicle;
receiving, at the first vehicle, sensor data associated with a path of one or more leading vehicles observed in the vicinity of the first vehicle;
establishing a modified path that diverges from the first path a and that follows a path of the one or more leading vehicles;
detecting, at the first vehicle, an obstacle in a vicinity to the first path while the first vehicle is traveling along the modified path; and
classifying, with a processor, the obstacle observed by the first vehicle along the modified path.
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Abstract
Systems and method are provided for controlling a vehicle. A path planning method for a vehicle includes establishing a first path for a first vehicle, then receiving, at the first vehicle, sensor data associated with a behavior of one or more leading vehicles observed in the vicinity of the first vehicle. The method further includes establishing a modified path that diverges from the first path based on the sensor data, then classifying, with a processor, an obstacle observed by the first vehicle as it travels along the modified path.
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Citations
20 Claims
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1. A path planning method for a vehicle, the method comprising:
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establishing a first path for a first vehicle; receiving, at the first vehicle, sensor data associated with a path of one or more leading vehicles observed in the vicinity of the first vehicle; establishing a modified path that diverges from the first path a and that follows a path of the one or more leading vehicles; detecting, at the first vehicle, an obstacle in a vicinity to the first path while the first vehicle is traveling along the modified path; and classifying, with a processor, the obstacle observed by the first vehicle along the modified path. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An autonomous vehicle comprising:
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one or more sensors configured to produce sensor data associated one or more leading vehicles located in the vicinity of the autonomous vehicle; a leading vehicle observation module configured to, by a processor, receive the sensor data and establish a modified path that diverges from an initially established path and that follows a path of the one or more leading vehicles; an obstacle classification module, including a processor, configured to detect an obstacle in a vicinity to the first path while the first vehicle is traveling along the modified path; and
classify the obstacle observed by the autonomous vehicle along the modified path.- View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for controlling a vehicle, comprising:
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one or more sensors configured to produce sensor data associated one or more leading vehicles located in the vicinity of the autonomous vehicle; a leading vehicle observation module, including a processor, configured to receive the sensor data and establish a modified path that diverges from an initially established path and that follows a path of the one or more leading vehicles; and an obstacle classification module configured to detect an obstacle in a vicinity to the first path while the first vehicle is traveling along the modified path; and
classify the obstacle observed by the autonomous vehicle along the modified path.- View Dependent Claims (16, 17, 18, 19, 20)
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Specification