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SYSTEM FOR INTEGRATING DYNAMICALLY OBSERVED AND STATIC INFORMATION FOR ROUTE PLANNING IN A GRAPH BASED PLANNER

  • US 20120046819A1
  • Filed: 09/25/2008
  • Published: 02/23/2012
  • Est. Priority Date: 09/25/2008
  • Status: Active Grant
First Claim
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1. A method of controlling an autonomous vehicle using a graph representing a plurality of routes the vehicle can travel, the graph comprising a plurality of vertices and a plurality of edges, wherein the vertices represent waypoints and each edge connects a respective two of the vertices, the method comprising:

  • controlling operations of the vehicle based at least in part on edge costs, wherein the edge costs are determined by an estimation system and are based on at least one of an estimated travel time for one of the plurality of edges and a traverse-ability of the edge;

    sensing conditions of edges the vehicle is traversing; and

    based on the sensed conditions, dynamically updating the edge costs for a current traversal from a starting point to a destination.

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