Systems and methods for continuous replanning of vehicle trajectories
First Claim
1. A method for identifying a path of a vehicle through a selected area comprising:
- A) providing a computer system receiving data from at least one of a database and an object detection system describing a position of the vehicle relative to the selected area;
B) modeling as a color-coded heat map, within a memory of the computer system, the selected area as a plurality of sub-areas, selected of the sub-areas having a flight object associated therewith;
C) associating with each of the plurality of sub-areas one or more parameters, at least one of the parameters representing a summation value;
D) modifying the summation value associated with selected of the plurality of sub-areas in relation to a proximity of a sub-area another of the plurality of sub-areas having a flight object associated therewith;
E) determining one or more sub-areas having a summation value satisfying a predetermined rule; and
F) identifying adjacent of the sub-areas satisfying the predetermined rule as representing the path of the vehicle through the areawherein each of the sub-areas has associated therewith a color indicating if the summation value associated with the sub-area satisfies the predetermined rule and, displaying on a navigation display, the identified path of the vehicle.
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Accused Products
Abstract
A method and system for continuously re-planning a vehicle'"'"'s path, in the face of stationary and moving obstacles, dynamically calculates a new path in real time which is both efficient and maintains minimum safety clearances relative to obstacles. Repulsion signals emanating from obstacles and propagating through delineated sections of a grid representing a geographic space are summed along with values representing the relative distance of the sections from the vehicle origin and vehicle destination. The grid sections having optimal values according to a predetermined criteria represent an efficient and safe travel path between the vehicle origin and destination.
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Citations
17 Claims
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1. A method for identifying a path of a vehicle through a selected area comprising:
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A) providing a computer system receiving data from at least one of a database and an object detection system describing a position of the vehicle relative to the selected area; B) modeling as a color-coded heat map, within a memory of the computer system, the selected area as a plurality of sub-areas, selected of the sub-areas having a flight object associated therewith; C) associating with each of the plurality of sub-areas one or more parameters, at least one of the parameters representing a summation value; D) modifying the summation value associated with selected of the plurality of sub-areas in relation to a proximity of a sub-area another of the plurality of sub-areas having a flight object associated therewith; E) determining one or more sub-areas having a summation value satisfying a predetermined rule; and F) identifying adjacent of the sub-areas satisfying the predetermined rule as representing the path of the vehicle through the area wherein each of the sub-areas has associated therewith a color indicating if the summation value associated with the sub-area satisfies the predetermined rule and, displaying on a navigation display, the identified path of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for identifying a path of a vehicle through a selected area, the system comprising a computer system receiving data from at least one of a database and an object detection system describing a position of the vehicle relative to the selected area, the computer system comprising a processor and a memory coupled to the processor for storing data to be processed by the processor, the system further comprising:
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A) program logic configured for modeling, as a color-coded heat map, within the memory of the computer system, a selected area as a plurality of sub-areas, selected of the sub-areas having a flight object associated therewith; B) program logic configured for associating with each of the plurality of sub-areas one or more parameters, at least one of the parameters representing a summation value; C) program logic configured for modifying the summation value associated with each of the plurality of sub-areas in relation to a proximity of sub-area having a flight object associated therewith; D) program logic configured for determining one or more sub-areas having a summation value satisfying a predetermined rule; and E) program logic configured for identifying adjacent of the sub-areas satisfying the predetermined rule as representing the path of the vehicle through the area wherein each of the sub-areas has associated therewith a color indicating if the summation value associated with the sub-area satisfies the predetermined rule and, displaying on a navigation display, the identified path of the vehicle. - View Dependent Claims (13, 14, 15, 16)
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17. A method for identifying a path of a vehicle through a selected area comprising:
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A) providing a computer system receiving data from at least one of a database and an object detection system describing a position of the vehicle relative to the selected area; B) modeling, as a color-coded heat map, within a memory of the computer system, an area having at least one flight object contained within the area; C) defining a sub-area of the area and a summation parameter associated with the sub-area; D) modifying a value for the summation parameter in accordance with a relative distance of the sub-area to each of the flight objects contained within the area; and E) determining if the value of the summation parameter of the sub-area satisfies a predetermined rule, wherein each of the sub-areas has associated therewith a color indicating if the summation value associated with the sub-area satisfies the predetermined rule and, displaying on a navigation display, the identified path of the vehicle.
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Specification