REACTIVE PATH PLANNING FOR AUTONOMOUS DRIVING
First Claim
1. A method of adaptively re-generating a planned path for an autonomous driving maneuver comprising the steps of:
- (a) obtaining, by vehicle-based devices, object data associated with sensed objects in a road of travel;
(b) constructing, by a processor, an object map based on the sensed objects in a road of travel;
(c) re-setting and actuating a timer;
(d) generating, by the processor, a planned path for autonomously maneuvering the vehicle around the sensed objects, the planned path being generated based on a cost-distance function;
(e) autonomously maneuvering the vehicle along the planned path;
(f) updating the object map based on updated sensed data from the vehicle-based devices;
(g) determining whether the planned path is feasible based on the updated object map;
(h) returning to step (a) in response to a determination that the planned path is infeasible;
otherwise continuing to step (i);
(i) determining whether the timer has expired; and
(j) returning to step (a) in response to the timer expiring;
otherwise, returning to step (f).
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Abstract
A method of adaptively re-generating a planned path for an autonomous driving maneuver. An object map is generated based on the sensed objects in a road of travel. A timer re-set and actuated. A planned path is generated for autonomously maneuvering the vehicle around the sensed objects. The vehicle is autonomously maneuvered along the planned path. The object map is updated based on sensed data from the vehicle-based devices. A safety check is performed for determining whether the planned path is feasible based on the updated object map. The planned path is re-generated in response to a determination that the existing path is infeasible, otherwise a determination is made as to whether the timer has expired. If the timer has not expired, then a safety check is re-performed; otherwise, a return is made to re-plan the path.
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Citations
20 Claims
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1. A method of adaptively re-generating a planned path for an autonomous driving maneuver comprising the steps of:
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(a) obtaining, by vehicle-based devices, object data associated with sensed objects in a road of travel; (b) constructing, by a processor, an object map based on the sensed objects in a road of travel; (c) re-setting and actuating a timer; (d) generating, by the processor, a planned path for autonomously maneuvering the vehicle around the sensed objects, the planned path being generated based on a cost-distance function; (e) autonomously maneuvering the vehicle along the planned path; (f) updating the object map based on updated sensed data from the vehicle-based devices; (g) determining whether the planned path is feasible based on the updated object map; (h) returning to step (a) in response to a determination that the planned path is infeasible;
otherwise continuing to step (i);(i) determining whether the timer has expired; and (j) returning to step (a) in response to the timer expiring;
otherwise, returning to step (f). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification