Method and apparatus for two-stage planning
First Claim
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1. A computer implemented method of determining a plan through a space comprising a near field and a far field, comprising:
- with a sensor device, obtaining measurements of said far field and storing said measurements in an electronic memory;
with a processor, determining, based on said measurements of said far field, the viability of each far field plan among a plurality of candidate far field plans;
with said processor, determining a flexibility score for each of said candidate far field plans; and
with said processor, selecting a composite plan comprising a far field plan having the highest flexibility score among those candidate far field plans that have been determined to be viable;
wherein the near field extends along a roadway from a starting transverse line through a current position to a first transverse line though a first future position at a first future time, and where in the far field extends along the roadway from the first transverse line to a second transverse line through a second future position at a second future time.
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Abstract
A plan through a space having a near field and a far field is determined. Using a sensor device, measurements of the far field are obtained and stored in an electronic memory. A processor uses the measurements to determine the viability of each far field plan among a plurality of candidate far field plans. The processor also determines a flexibility score for each of the candidate far field plans and selects a composite plan comprising the viable far field plan having a highest flexibility score among the viable candidate far field plans.
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Citations
19 Claims
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1. A computer implemented method of determining a plan through a space comprising a near field and a far field, comprising:
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with a sensor device, obtaining measurements of said far field and storing said measurements in an electronic memory; with a processor, determining, based on said measurements of said far field, the viability of each far field plan among a plurality of candidate far field plans; with said processor, determining a flexibility score for each of said candidate far field plans; and with said processor, selecting a composite plan comprising a far field plan having the highest flexibility score among those candidate far field plans that have been determined to be viable; wherein the near field extends along a roadway from a starting transverse line through a current position to a first transverse line though a first future position at a first future time, and where in the far field extends along the roadway from the first transverse line to a second transverse line through a second future position at a second future time. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus determining a plan through a space comprising a near field and a far field, comprising:
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a processor configured for determining, based on measurements taken with a sensor device obtaining measurements of said far field, the viability of each far field plan among a plurality of candidate far field plans; said processor configured for determining a flexibility score for each of said candidate far field plans; and said processor configured for selecting a composite plan comprising a far field plan having the highest flexibility score among those candidate far field plans that have been determined to be viable; said processor setting said flexibility score to 0 for each non-viable far field plan, thereby eliminating said non-viable far field plans from further consideration; for each viable far field plan, said processor setting said flexibility score to one greater than the number of said candidate far field plans between said viable far field plan and a nearest impassable far field plan. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification