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REACTIVE PATH PLANNING FOR AUTONOMOUS DRIVING

  • US 20160313133A1
  • Filed: 04/27/2015
  • Published: 10/27/2016
  • Est. Priority Date: 04/27/2015
  • Status: Active Grant
First Claim
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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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