System and method for trajectory optimization using adaptive navigation performance estimation
First Claim
1. A method for optimizing a route, comprising:
- planning a route;
determining threshold distances from obstacles along the route;
computing dynamically estimated error at one or more points along the route to analyze the route for violation of the threshold distances;
if a violations occurs, determining the one or more points at which the violations occurred; and
adding at least one error correcting maneuver to the route to reduce actual predicted accumulated error and reanalyzing the route for violation of the threshold distances.
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Abstract
The present invention relates to a method for optimizing a route of a vehicle including planning an initial route using rules to estimate navigation system performance and to enhance accuracy of the navigation system and then utilizing a navigation performance prediction tool to evaluate possible success of the initial route. If the initial route is deemed a failure, estimated error may be recalculated based on the initial route and then the estimated error may be utilized to evaluate possible success of the initial route. If the initial route is deemed a failure, the rules may be used to designate at least one error correcting maneuver to be added to the initial route to reduce error and then the estimated error of the initial route including the error correcting maneuver may then be recalculated using the navigation prediction process. The possible success of the initial route including the error correcting maneuver may then be evaluated. This method may be repeated in whole or in part until a satisfactory route is obtained.
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Citations
22 Claims
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1. A method for optimizing a route, comprising:
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planning a route;
determining threshold distances from obstacles along the route;
computing dynamically estimated error at one or more points along the route to analyze the route for violation of the threshold distances;
if a violations occurs, determining the one or more points at which the violations occurred; and
adding at least one error correcting maneuver to the route to reduce actual predicted accumulated error and reanalyzing the route for violation of the threshold distances. - View Dependent Claims (2, 3, 4, 5)
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6. A method for optimizing a route of vehicle, comprising:
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planning an initial route;
utilizing a fixed estimated error to evaluate possible success of the initial route;
then computing the dynamically estimated error for the initial route at one or more points;
if the initial route is deemed a failure, determining at least one location that caused the failure; and
adding at least one error correcting maneuver to the initial route to reduce dynamically estimated error and evaluating the initial route with the at least one error correcting maneuver added for possible success. - View Dependent Claims (7, 8, 9, 10)
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11. A method for optimizing a route of a vehicle, comprising:
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planning an initial route;
utilizing a fixed estimated error;
recalculating the error based on the initial route;
utilizing the dynamically estimated error to evaluate possible success of the initial route;
if the initial route is deemed a failure, adding at least one error correcting maneuver to the initial route to reduce error;
recalculating the dynamically estimated error of the initial route including the at least one error correcting maneuver; and
evaluating possible success of the initial route including the at least one error correcting maneuver. - View Dependent Claims (12, 13, 14, 15)
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16. A method for controlling a vehicle, comprising:
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uploading a predetermined route to the vehicle;
before or while the vehicle is in motion, comparing real-time dynamically estimated error to a pre-computed variable error;
if the real-time dynamically estimated error exceeds the pre-computed variable error, re-planning the route of the vehicle utilizing a route planning optimization process; and
if the real-time dynamically estimated error is less than the pre-computed error, allowing the vehicle to continue along the predetermined route. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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Specification