Method and system for determining drivable navigation path for an autonomous vehicle
First Claim
1. A method for determining a drivable navigation path for an autonomous vehicle, the method comprising:
- receiving, by a navigation device, a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV);
deriving, by the navigation device, a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle, wherein deriving the navigational FOV comprises determining an approachable volume based on a plurality of geometrical parameters of the environmental FOV, an orientation of the base navigation path, and the orientation of the autonomous vehicle, wherein determining the approachable volume comprises determining a deviation in the orientation based on the orientation of the base navigation path and the orientation of the autonomous vehicle and determining a scope of the environmental FOV based on the deviation;
determining, by the navigation device, a set of navigational data points from the navigational FOV; and
generating, by the navigation device, at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.
1 Assignment
0 Petitions
Accused Products
Abstract
This disclosure relates generally to autonomous vehicle, and more particularly to method and system for determining a drivable navigation path for an autonomous vehicle. In one embodiment, a method may be provided for determining a drivable navigation path for the autonomous vehicle. The method may include receiving a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV). The method may further include deriving a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle. The method may further include determining a set of navigational data points from the navigational FOV, and generating at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.
6 Citations
16 Claims
-
1. A method for determining a drivable navigation path for an autonomous vehicle, the method comprising:
-
receiving, by a navigation device, a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV); deriving, by the navigation device, a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle, wherein deriving the navigational FOV comprises determining an approachable volume based on a plurality of geometrical parameters of the environmental FOV, an orientation of the base navigation path, and the orientation of the autonomous vehicle, wherein determining the approachable volume comprises determining a deviation in the orientation based on the orientation of the base navigation path and the orientation of the autonomous vehicle and determining a scope of the environmental FOV based on the deviation; determining, by the navigation device, a set of navigational data points from the navigational FOV; and generating, by the navigation device, at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A system for determining a drivable navigation path for an autonomous vehicle, the system comprising:
-
a navigation device comprising at least one processor and a computer-readable medium storing instructions that, when executed by the at least one processor, cause the at least one processor to; receive a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV); derive a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle, wherein deriving the navigational FOV comprises determining an approachable volume based on a plurality of geometrical parameters of the environmental FOV, an orientation of the base navigation path, and the orientation of the autonomous vehicle, wherein determining the approachable volume comprises determining a deviation in the orientation based on the orientation of the base navigation path and the orientation of the autonomous vehicle and determining a scope of the environmental FOV based on the deviation; determine a set of navigational data points from the navigational FOV; and generate at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points. - View Dependent Claims (10, 11, 12, 13, 14, 15)
-
-
16. A non-transitory computer-readable medium storing computer-executable instructions for:
-
receiving a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV); deriving a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle, wherein deriving the navigational FOV comprises determining an approachable volume based on a plurality of geometrical parameters of the environmental FOV, an orientation of the base navigation path, and the orientation of the autonomous vehicle, wherein determining the approachable volume comprises determining a deviation in the orientation based on the orientation of the base navigation path and the orientation of the autonomous vehicle and determining a scope of the environmental FOV based on the deviation; determining a set of navigational data points from the navigational FOV; and generating at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.
-
Specification