SIMPLE TECHNIQUE FOR DYNAMIC PATH PLANNING AND COLLISION AVOIDANCE

• US 20110035150A1
• Filed: 08/07/2009
• Published: 02/10/2011
• Est. Priority Date: 08/07/2009
• Status: Abandoned Application

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust)
• Inventors: SUNDARRAJ, Suresh, BELLUR, Bhargav Ramchandra, RAGHAVAN, Rajesh
• Application Number:
  US12/537,884
• Publication Number:
  US 20110035150A1
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system and method for dynamically mapping the position and speed of objects around a vehicle for collision avoidance purposes. The method determines the velocity of the vehicle in at least two orthogonal directions along with the position of the vehicle. From this information, a distance function map of the vehicle is created in a predefined area that includes a distance value at concentric locations from the vehicle. The distance function map is combined with distance function maps from all of the objects in the predefined area to determine whether a potential collision exists between the particular vehicle and any of the other objects.

Claims

1. A method for determining the potential for a collision of a vehicle with an object in a defined area, said method comprising:

determining the velocity of the vehicle in at least two orthogonal directions;

determining the position of the vehicle;

determining a distance function including distance values of the vehicle at a plurality of concentric locations away from the vehicle and creating a distance function map from the plurality of distance functions in the defined area; and

combining the distance function map of the vehicle with a distance function map from other vehicles or other static object obtained from a terrain database corresponding to the geographic area in which the vehicle is present in the defined area to create a composite distance function map to determine the relative positions and velocities of the vehicles to determine the potential for a collision.

2. The method according to claim 1 wherein determining a distance function includes using the equation:

Φ

_t+u·

∇

Φ

=0

where Φ

is the distance value and u is the velocity vector of the vehicle.

3. The method according to claim 1 wherein determining the velocity and position of the vehicle includes determining the velocity and position of the vehicle using GPS information.

4. The method according to claim 1 wherein the vehicle transmits the distance functions and a receiving vehicle creates the distance function map from the distance functions.

5. The method according to claim 1 wherein the vehicle transmits the created distance function map and a receiving vehicle receives the created distance function map.

6. The method according to claim 1 further determining whether a distance function value is less than a predetermined distance function threshold value, and if so, determining that a potential collision is probable.

7. The method according to claim 1 wherein determining the velocity of the vehicle in at least two orthogonal directions includes updating the velocity at regular intervals.

8. A method for determining the potential for a collision of a vehicle with an object, said method comprising:

defining a region including vehicles within a defined region;

determining the velocity of the vehicle in two orthogonal directions at regular intervals;

determining the position of the vehicle;

determining a distance function including a distance value of the vehicle at a plurality of concentric locations away from the vehicle and creating a distance function map from the plurality of distance functions in the defined region;

combining the distance function map of the vehicle with a distance function map from other vehicles in the defined region along with other static objects obtained from a terrain database corresponding to the geographic area in which the vehicle is present to create a composite distance function map; and

transmitting information including the distance functions between the vehicles in the defined region to determine the relative positions and velocities of the vehicles to determine the potential for a collision.

9. The method according to claim 8 wherein determining a distance function includes using the equation:

Φ

_t+u·

∇

Φ

=0

where Φ

is the distance value and u is the velocity of the vehicle.

10. The method according to claim 8 wherein determining the velocity and position of the vehicle includes determining the velocity and position of the vehicle using GPS information.

11. The method according to claim 8 wherein transmitting information includes transmitting a kinematic state along with position and velocity of the vehicle where a receiving vehicle constructs a distance function map corresponding to the sending vehicle based on the information received.

12. The method according to claim 8 wherein transmitting information including the distance functions between the vehicles includes transmitting the distance functions where a receiving vehicle creates the distance function map from the distance functions.

13. The method according to claim 8 wherein transmitting information including the distance functions between the vehicles includes transmitting the created distance function map where a receiving vehicle receives the created distance function map.

14. The method according to claim 8 further comprising determining whether a distance function value is less than a predetermined distance function threshold value, and if so, determining that a potential collision is probable.

15. A system for determining the potential for a collision of a vehicle with an object in a defined area, said system comprising:

means for determining the velocity of the vehicle in at least two orthogonal directions;

means for determining the position of the vehicle;

means for determining a distance function including distance values of the vehicle at a plurality of concentric locations away from the vehicle and creating a distance function map from the plurality of distance functions in the defined area; and

means for combining the distance function map of the vehicle with a distance function map from other vehicles in the defined area to create a composite distance function map to calculate the relative positions and velocities of the vehicles to determine the potential for a collision.

16. The system according to claim 15 wherein the means for determining a distance function uses the equation:

Φ

_t+u·

∇

Φ

=0

where Φ

is the distance value and u is the velocity of the vehicle.

17. The system according to claim 15 wherein the means for determining the velocity and position of the vehicle uses GPS information.

18. The system according to claim 15 wherein the vehicle transmits the distance functions and a receiving vehicle creates the distance function map from the distance functions.

19. The system according to claim 15 wherein the vehicle transmits the created distance function map and a receiving vehicle receives the created distance function map.

20. The system according to claim 15 further comprising means for determining whether a distance function value is less than a predetermined distance function threshold value, and if so, determining that a potential collision is probable.