SYSTEM AND METHOD FOR PLANNING A VEHICLE PATH

• US 20190004524A1
• Filed: 08/30/2017
• Published: 01/03/2019
• Est. Priority Date: 08/31/2016
• Status: Abandoned Application

• Current Assignee: Faraday & Future Inc.
• Original Assignee: Faraday & Future Inc.
• Inventors: Wang, Yizhou, Liu, Changliu, Chen, Xiaoying, Wang, Chongyu, Ni, Kai
• Application Number:
  US15/691,617
• Publication Number:
  US 20190004524A1
• Time in Patent Office: Days
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/3605 Destination input or retrieval
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06T 15/00 3D [Three Dimensional] image rendering
• CPC Class Codes: G06T 17/05 Geographic models

Abstract

A system and method for determining a path for autonomous navigation based on user input is described. The vehicle can include one or more sensors to collect data for generating a three-dimensional (3D) model of the vehicle'"'"'s surroundings. A two-dimensional (2D) occupancy grid map can be generated from the 3D model and displayed at a computing device. In some examples, the occupancy grid map can be displayed at a user interface of the electronic device. The user interface can further accept user input in the form of one or more of a user-defined path, an endpoint, a vehicle pose, or a series of waypoints. Based on the user input, a finalized path for autonomous vehicle travel can be determined. Determining a finalized path can include determining an optimal, minimum-distance path, applying a smoothing algorithm, and/or applying a constraint to maintain a minimum distance from any static obstacles near the vehicle. While traveling along the finalized path, one or more sensors can monitor the vehicle'"'"'s surroundings for obstacles. In response to a detected obstacle, the vehicle can stop and/or determine a new path for travel.

Claims

1. A method of determining a path of travel for a vehicle, the method comprising:

generating a three-dimensional (3D) model of the vehicle'"'"'s surroundings;

converting the 3D model to a two-dimensional (2D) occupancy grid map;

receiving a user input indicative of one or more points along a desired path;

determining a finalized path in accordance with the user input; and

autonomously driving along the finalized path.

2. The method of claim 1, wherein the 3D model is generated based on data from one or more sensors included in the vehicle.

3. The method of claim 1, wherein the occupancy grid map includes a footprint of one or more objects included in the 3D model.

4. The method of claim 1, wherein the user input includes one or more of a user-defined path, an endpoint, a vehicle pose, and a series of waypoints.

5. The method of claim 1, wherein the user input is received at a computing device operatively coupled to the vehicle.

6. The method of claim 1, further comprising generating an optimal path based on the user input.

7. The method of claim 1, further comprising generating a smooth path based on the user input.

8. The method of claim 1, wherein the finalized path is at least a pre-defined minimum distance away from any obstacles included in the occupancy grid map at all points.

9. The method of claim 1, further comprising, while driving autonomously:

in accordance with a determination that there is an obstacle along the finalized path, stopping the vehicle.

10. The method of claim 9, further comprising:

in accordance with the determination that there is an obstacle along the finalized path, determining a new path and driving along the new path.

11. The method of claim 9, further comprising:

in accordance with a determination that there is no longer an obstacle along the finalized path, resuming driving along the finalized path.

12. A vehicle comprising a processor, the processor configured for:

generating a three-dimensional (3D) model of the vehicle'"'"'s surroundings;

converting the 3D model to a two-dimensional (2D) occupancy grid map;

receiving a user input indicative of one or more points along a desired path;

determining a finalized path in accordance with the user input; and

autonomously driving along the finalized path.

13. A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors of a vehicle, causes the processor to perform a method of determining a path of travel for the vehicle, the method comprising:

generating a three-dimensional (3D) model of the vehicle'"'"'s surroundings;

converting the 3D model to a two-dimensional (2D) occupancy grid map;

receiving a user input indicative of one or more points along a desired path;

determining a finalized path in accordance with the user input; and

autonomously driving along the finalized path.