Method for generating offset paths for ground vehicles

• US 9,168,946 B2
• Filed: 03/19/2010
• Issued: 10/27/2015
• Est. Priority Date: 03/19/2010
• Status: Active Grant

• Current Assignee: Javad GNSS, Inc.
• Original Assignee: Javad GNSS, Inc.
• Inventors: Ashjaee, Javad, Pesterev, Alexander V., Rapoport, Lev B.
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): WHALEN, MICHAEL F
• Application Number:
  US12/728,046
• Publication Number:
  US 20110231057A1
• Time in Patent Office: 2,048 Days
• Field of Search: 701/41, 701/50
• US Class Current: 1/1
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B62D 1/02 vehicle-mounted
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions

Abstract

A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle'"'"'s ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint. At least one segment of an offset path for the vehicle to follow is generated based upon the desired offset distance from the modified at least one segment of the base path.

Claims

1. A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path, wherein the at least one segment of the base path is represented by a stored set of data points, the computer-implemented method comprising:

determining a curvature of the at least one segment of the base path at each of the stored set of data points;

comparing the determined curvature at each of the stored set of data points with a curvature constraint to identify a first subset of points from the stored set of data points that violate the curvature constraint and to identify a second subset of points from the stored set of data points that do not violate the curvature constraint, wherein the curvature constraint is based on a characteristic of the vehicle and a desired offset distance for at least one segment of an offset path from the at least one segment of the base path, and the characteristic reflects the vehicle'"'"'s ability to traverse at least one segment of a path;

modifying the first subset of points to satisfy the curvature constraint; and

generating the at least one segment of the offset path for the vehicle to follow by offsetting the modified first subset of points and the second subset of points by a distance corresponding to the desired offset distance.

2. The computer-implemented method of claim 1, wherein the at least one segment of the offset path is parallel to a modified at least one segment of the base path represented by the modified first subset of points and the second subset of points.

3. The computer-implemented method of claim 2, wherein the at least one segment of the base path and the at least one segment of the offset path are interpolated by cubic B-splines.

4. The computer-implemented method of claim 1, wherein generating the at least one segment of the offset path includes interpolation by parametric functions.

5. The computer-implemented method of claim 1, wherein comparing the curvature constraint with the determined curvatures comprises comparing a representation of the curvature constraint with the curve of the at least one segment of the base path.

6. The computer-implemented method of claim 5, wherein the representation of the curvature constraint is graphically represented as a disk.

7. The computer-implemented method of claim 6, wherein a radius of the disk is based on a maximum wheel turning angle of the vehicle.

8. The computer-implemented method of claim 6, wherein comparing the disk with the determined curvatures further comprises:

positioning the representation at a first violation point of the first subset of points;

if any points of the base path are identified within the disk, then repositioning the disk along the path in the backward direction to the previous point of the at least one segment of the base path;

identifying points of the stored set of data points of the at least one segment of the base path within the disk repositioned at the previous point; and

continuing to reposition the disk along the path in the backward direction at other points, until no points of the at least one segment of the base path lie within the disk.

9. The computer-implemented method of claim 8, wherein the disk is repositioned until only two points of the set of data points of the at least one segment of the base path touch the disk, wherein the set of data points of the at least one segment of the base path between the two points comprises the first subset of points.

10. The computer-implemented method of claim 9, wherein modifying the first subset of points to satisfy the curvature constraint comprises:

replacing the first subset of points with the modified first subset of points on an arc of the disk defined by the two points of the disk that touch the at least one segment of the base path.

11. The computer-implemented method of claim 1, wherein the characteristic is based on a maximum wheel turning angle of the vehicle.

12. The computer-implemented method of claim 11, wherein the characteristic is also based on a wheel base of the vehicle.

13. A non-transitory computer-readable storage medium encoded with executable instructions for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path, wherein the at least one segment of the base path is stored as a set of data points, the instructions comprising instructions for:

determining a curvature of the at least one segment of the base path at each of the stored set of data points;

comparing the determined curvature at each of the stored set of data points with a curvature constraint to identify a first subset of points from the stored set of data points that violate the curvature constraint and to identify a second subset of points from the stored set of data points that do not violate the curvature constraint, wherein the curvature constraint is based on a characteristic of the vehicle and a desired offset distance for at least one segment of an offset path from the at least one segment of the base path, and the characteristic reflects the vehicle'"'"'s ability to traverse at least one segment of a path;

modifying the first subset of points-to satisfy the curvature constraint; and

generating the at least one segment of the offset path for the vehicle to follow by offsetting the modified first subset of points and the second subset of points by a distance corresponding to the desired offset distance.

14. The computer-readable storage medium of claim 13, wherein the at least one segment of the offset path is parallel to a modified at least one segment of the base path represented by the modified first subset of points and the second subset of points.

15. The computer-readable storage medium of claim 13, wherein the instructions for comparing the curvature constraint with the determined curvatures comprises instructions for comparing a representation of the curvature constraint with the curve of the at least one segment of the base path.

16. The computer-readable storage medium of claim 15, wherein the representation of the curvature constraint is graphically represented as a disk.

17. The computer-readable storage medium of claim 16, wherein a radius of the disk is based on a maximum wheel turning angle of the vehicle.

18. The computer-readable storage medium of claim 16, wherein the instructions for comparing the disk with the determined curvatures further comprises instructions for:

positioning the disk at a first violation point of the first subset of points;

if any points of the base path are identified within the disk, then repositioning the disk along the path in the backward direction to the previous point of the at least one segment of the base path;

identifying points of the stored set of data points of the at least one segment of the base path within the disk repositioned at the previous point; and

continuing to reposition the disk along the path in the backward direction at other points, until no points of the at least one segment of the base path lie within the disk.

19. The computer-readable storage medium of claim 18, wherein the disk is repositioned until only two points of the set of data points of the at least one segment of the base path touch the disk, wherein the set of data points of the at least one segment of the base path between the two points comprises the first subset of points.

20. The computer-implemented method of claim 19, wherein the instructions for modifying the first subset of points to satisfy the curvature constraint comprises instructions for:

replacing the first subset of points with the modified first subset of points on an arc of the disk defined by the two points of the disk that touch the at least one segment of the base path.

21. The computer-readable storage medium of claim 13, wherein the instructions for generating the at least one segment of the offset path includes instructions for interpolation by parametric functions.

22. The computer-readable storage medium of claim 13, wherein the at least one segment of the base path and the at least one segment of the offset path are interpolated by cubic B-splines.

23. The computer-readable storage medium of claim 13, wherein the characteristic is based on a maximum wheel turning angle of the vehicle.

24. The computer-readable storage medium of claim 23, wherein the characteristic is also based on a wheel base of the vehicle.

25. A system for generating an offset path for a vehicle based on a base path, wherein the at least one segment of the base path is stored as a set of data points, the system comprising:

a memory for storing instructions; and

a processor for executing the instructions, the instructions comprising instructions for;

determining a curvature of the at least one segment of the base path at each of the stored set of data points;

comparing the-determined curvature at each of the stored set of data points with a curvature constraint to identify a first subset of points from the stored set of data points that violate the curvature constraint and to identify a second subset of points from the stored set of data points that do not violate the curvature constraint, wherein the curvature constraint is based on a characteristic of the vehicle and a desired offset distance for at least one segment of an offset path from the at least one segment of the base path, and the characteristic reflects the vehicle'"'"'s ability to traverse at least one segment of a path;

modifying the first subset of points to satisfy the curvature constraint; and

generating the at least one segment of the offset path for the vehicle to follow by offsetting the modified first subset of points and the second subset of points by a distance corresponding to the desired offset distance.

26. The system of claim 25, wherein the system is installed in the vehicle.

27. The system of claim 26, further comprising a GPS receiver for receiving GPS data for storing the at least one segment of the base path.

28. The system of claim 26, further comprising control logic connected to the processor for communicating with a steering control system of the vehicle.

29. The system of claim 25, further comprising a transmitter for transmitting the generated at least one segment of the offset path to the vehicle.