Method and System for Determining Drivable Navigation Path for an Autonomous Vehicle
First Claim
1. A method for determining a drivable navigation path for an autonomous vehicle, the method comprising:
- receiving, by a navigation device, a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV);
deriving, by the navigation device, a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle;
determining, by the navigation device, a set of navigational data points from the navigational FOV; and
generating, by the navigation device, at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.
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Abstract
This disclosure relates generally to autonomous vehicle, and more particularly to method and system for determining a drivable navigation path for an autonomous vehicle. In one embodiment, a method may be provided for determining a drivable navigation path for the autonomous vehicle. The method may include receiving a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV). The method may further include deriving a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle. The method may further include determining a set of navigational data points from the navigational FOV, and generating at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.
22 Citations
20 Claims
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1. A method for determining a drivable navigation path for an autonomous vehicle, the method comprising:
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receiving, by a navigation device, a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV); deriving, by the navigation device, a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle; determining, by the navigation device, a set of navigational data points from the navigational FOV; and generating, by the navigation device, at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points. - View Dependent Claims (2, 3, 5, 6, 7, 8, 9, 10)
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4. The method of clam 3, wherein the plurality of geometrical parameters comprises a range of LIDAR measurement, a horizontal angle of LIDAR beam elevation, a vertical angle of LIDAR beam elevation, and a height of LIDAR from the ground.
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11. A system for determining a drivable navigation path for an autonomous vehicle, the system comprising:
a navigation device comprising at least one processor and a computer-readable medium storing instructions that, when executed by the at least one processor, cause the at least one processor to; receive a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV); derive a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle; determine a set of navigational data points from the navigational FOV; and generate at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A non-transitory computer-readable medium storing computer-executable instructions for:
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receiving a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV); deriving a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle; determining a set of navigational data points from the navigational FOV; and generating at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.
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Specification