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Autonomous vehicles and methods of zone driving

  • US 10,459,453 B2
  • Filed: 11/08/2017
  • Issued: 10/29/2019
  • Est. Priority Date: 11/08/2016
  • Status: Active Grant
First Claim
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1. An autonomous vehicle, comprising:

  • a powertrain driving a set of wheels, and further including steering and braking systems;

    a memory for storing roadgraph information including driving rules and parameters associated with a roadgraph coordinate system;

    a localization system operative to determine the location of the vehicle is relative to the roadgraph coordinate system;

    an obstacle detection system;

    an on-board computer interfaced to the powertrain, and steering and braking subsystems to execute commanded driving missions using the roadgraph information and localization and obstacle detection systems;

    each mission being defined by a set of destinations or checkpoints that the vehicle is scheduled to visit; and

    wherein the on-board computer is further operative to execute a mission commanding the autonomous vehicle to visit destinations or checkpoints in a plurality of zones, each zone being defined by a sub-roadgraph with its own set of zone-specific driving rules and parameters.

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