Path planning for evasive steering maneuver employing a virtual potential field technique
First Claim
1. A method for determining a virtual target path which is used to calculate an evasive steering path for a subject vehicle around a target object in a travel path of the subject vehicle without using lane markings, said method comprising:
- a collision avoidance system programmed for;
providing a plurality of scan points identifying detected objects from one or more sensors on the subject vehicle;
separating the plurality of scan points into target object scan points received from the target object and other object scan points received from other objects;
determining a potential field using the plurality of scan points that is a summation of two-dimensional Gaussian functions, where each Gaussian function has a center defined by the target object scan points and the other object scan points;
identifying a mesh grid in an X-Y plane and in a predefined region where the steering path will be located where the mesh grid includes mesh grid points at locations where X and Y plane lines cross, and where X plane lines are in a direction of the travel path of the subject vehicle and Y plane lines are in a perpendicular direction to the X direction;
identifying a potential field value from the potential field at each mesh grid point;
identifying a local minimum point of the potential field for each X plane line at each mesh grid point along a Y plane line crosses that X plane line, where the local minimum point is a curve point and where each X plane line includes a curve point;
calculating a corridor width between the target object and other objects and using the corridor width as a weight coefficient to determine an optimal virtual target path such that a path with a wider corridor width is preferred over a path with a narrow corridor width; and
connecting the curve points to define the virtual target path.
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Accused Products
Abstract
A system and method for calculating a virtual target path that is used to calculate an evasive steering path around a target object, such as a target vehicle, stopped in front of a subject vehicle. The method includes determining a potential field using a plurality of scan points that is a summation of two-dimensional Gaussian functions, where each Gaussian function has center defined by target object scan points and other object scan points. The method identifies a mesh grid in an X-Y plane where the mesh grid includes mesh grid points at locations where X and Y plane lines cross. The method identifies a local minimum point of the potential field for each X-plane line at each mesh grid point along the Y-plane crossing that X-plane line, where the local minimum point is a curve point. The method then connects the curve points to define the target path.
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Citations
19 Claims
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1. A method for determining a virtual target path which is used to calculate an evasive steering path for a subject vehicle around a target object in a travel path of the subject vehicle without using lane markings, said method comprising:
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a collision avoidance system programmed for; providing a plurality of scan points identifying detected objects from one or more sensors on the subject vehicle; separating the plurality of scan points into target object scan points received from the target object and other object scan points received from other objects; determining a potential field using the plurality of scan points that is a summation of two-dimensional Gaussian functions, where each Gaussian function has a center defined by the target object scan points and the other object scan points; identifying a mesh grid in an X-Y plane and in a predefined region where the steering path will be located where the mesh grid includes mesh grid points at locations where X and Y plane lines cross, and where X plane lines are in a direction of the travel path of the subject vehicle and Y plane lines are in a perpendicular direction to the X direction; identifying a potential field value from the potential field at each mesh grid point; identifying a local minimum point of the potential field for each X plane line at each mesh grid point along a Y plane line crosses that X plane line, where the local minimum point is a curve point and where each X plane line includes a curve point; calculating a corridor width between the target object and other objects and using the corridor width as a weight coefficient to determine an optimal virtual target path such that a path with a wider corridor width is preferred over a path with a narrow corridor width; and connecting the curve points to define the virtual target path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for determining a virtual target path that is used to calculate an evasive steering path for a subject vehicle around a target vehicle in a travel path of the subject vehicle without using lane markings, said method comprising:
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a collision avoidance system programmed for; providing a plurality of scan points identifying detected objects from one or more LiDAR sensors on the subject vehicle; separating the plurality of scan points into target vehicle scan points received from the target vehicle and other object scan points received from other objects; determining a potential field using the plurality of scan points that is a summation of two-dimensional Gaussian functions, where each Gaussian function has a center defined by the target vehicle scan points and the other object scan points; identifying a mesh grid in an X-Y plane and in a predefined region where the steering path will be located where the mesh grid includes mesh grid points at locations where X and Y plane lines cross, and where X plane lines are in a direction of the travel path of the subject vehicle and Y plane lines are in a perpendicular direction to the X direction; identifying a potential field value from the potential field at each mesh grid point; identifying a local minimum point of the potential field for each X plane line at each mesh grid point along a Y plane line that crosses the X plane line, where the local minimum point is a curve point and where each X plane line includes a curve point; calculating a corridor width between the target object and other objects and using the corridor width as a weight coefficient to determine an optimal virtual target path such that a path with a wider corridor width is preferred over a path with a narrow corridor width; and connecting the curve points to define the virtual target path by fitting a quadratic polynomial function through the points using a least-square process. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification