METHOD AND APPARATUS FOR GENERATING A VEHICLE PATH

• US 20150094945A1
• Filed: 09/17/2014
• Published: 04/02/2015
• Est. Priority Date: 09/27/2013
• Status: Active Grant

• Current Assignee: Transoft Solutions Inc.
• Original Assignee: Transoft Solutions Inc.
• Inventors: Pei, Guanggui, Ding, Li, Carrasco, Milton Santano Elias, Zhang, Shiying, CHENG, STEVEN KIN SHING, Chan, Steven Chi Kit, Duric, Mirza, Frost, Michael Christopher
• Granted Patent: US 9,404,758 B2
• Time in Patent Office: Days
• US Class Current: 701/408
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3461 Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
• CPC Class Codes: G06F 30/15 Vehicle, aircraft or watercraft design
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30

Abstract

A method and apparatus for generating a representation of a vehicle path for display via a computer is disclosed, which involves receiving start location information including a start location and an initial orientation of the vehicle and end location information including a desired end location of the vehicle, and receiving a selection of a vehicle defined by parameters that define a turning behaviour of the vehicle. The method involves receiving constraint information identifying at least one constraint to passage of the vehicle between the start and end locations and causing a processor circuit to generate a vehicle path for travel between the start and end locations, the vehicle path based on the turning behaviour of the vehicle and being generated such that the vehicle path remains within the at least one constraint.

Claims

1. A method for generating a representation of a vehicle path for display via a computer, the method comprising:

receiving start location information at an interface of the computer, the start location information including a start location and an initial orientation of the vehicle at the start location;

receiving end location information at the interface, the end location information including a desired end location of the vehicle;

receiving at the interface, a selection of a vehicle for which the vehicle path is to be generated, the vehicle being defined by vehicle parameters that define a turning behaviour of the vehicle;

receiving constraint information at the interface, the constraint information identifying at least one constraint to passage of the vehicle between the start location and the end location; and

causing a processor circuit of the computer to generate at least one vehicle path for travel of the vehicle between the start location and the end location, the vehicle path being based on the turning behaviour of the vehicle and being generated such that the vehicle path remains within the at least one constraint.

2. The method of claim 1 wherein receiving the end location information comprises receiving end location information including a desired orientation of the vehicle at the end location.

3. The method of claim 1 wherein receiving the constraint information comprises receiving for the at least one constraint:

a constraint location; and

a tolerance value defining a permitted deviation of the vehicle path from the constraint location.

4. The method of claim 3 wherein receiving the constraint information further comprises receiving a desired orientation of the vehicle at the constraint location.

5. The method of claim 1 wherein receiving the constraint information comprises causing the processor circuit to determine whether the turning behaviour of the vehicle acts as a constraint to generation of a vehicle path that would be able to reach the end location.

6. The method of claim 5 further comprising causing the processor circuit to display an indication of a range of possible turns that the vehicle is capable of making from the start location and orientation.

7. The method of claim 1 wherein receiving the constraint information comprises receiving information defining a location and extent of an obstacle to movement of the vehicle between the start location and the end location.

8. The method of claim 7 wherein receiving the information defining the location and extent of the obstacle to travel comprises receiving information defining at least one of:

a man-made structure;

a natural landscape feature; and

an edge of a roadway or thoroughfare.

9. The method of claim 1 wherein the end location comprises an intermediate end location and further comprising:

receiving at the interface, end location information including a subsequent desired end location of the vehicle; and

causing the processor circuit to generate a subsequent vehicle path portion for travel of the vehicle between the intermediate end location and the subsequent end location.

10. The method of claim 1 wherein causing the processor circuit to generate the at least one vehicle path comprises causing the processor circuit to determine whether the turning behaviour of the vehicle acts as a constraint to generation of a vehicle path that would be able to reach the end location and when the turning behaviour of the vehicle acts as a constraint:

causing a warning to be issued; and

discontinuing generation of the vehicle path.

11. The method of claim 9 further comprising causing the processor circuit to resume generation of the vehicle path in response to receiving revised end location information at the interface, wherein the revised end location information includes an end location that permits generation of a vehicle path that would be able to reach the end location.

12. The method of claim 1 wherein receiving the constraint information comprises receiving constraint information identifying a plurality of constraints and wherein causing the processor circuit to generate at least one vehicle path comprises causing the processor circuit to generate at least one vehicle path for travel of the vehicle between the start location and the end location within each of the plurality of constraints.

13. The method of claim 1 wherein receiving the constraint information comprises receiving constraint information identifying at least one of:

a roadway that permits travel of a motor vehicle;

a taxiway or runway that permits travel of an aircraft; and

a railway for travel of rolling stock.

14. The method of claim 1 wherein the vehicle parameters include at least one parameter defining an extent of the vehicle and wherein generating the at least one vehicle path comprises generating a vehicle path that causes the at least one extent of the vehicle to remain within the at least one constraint while traveling along the vehicle path.

15. The method of claim 1 wherein receiving the constraint information comprises receiving data defining a vehicle path portion, and wherein generating the vehicle path comprises generating a vehicle path that includes the vehicle path portion.

16. The method of claim 15 wherein receiving the data defining the vehicle path portion comprises recovering data defining:

a straight line;

a curved line; and

a waypoint.

17. The method of claim 1 wherein causing the processor circuit to generate at least one vehicle path comprises causing the processor circuit to generate a plurality of alternative vehicle paths for travel of the vehicle between the start location and the end location within the at least one constraint.

18. The method of claim 17 further comprising receiving at the interface, an operator selection of one of the plurality of alternative vehicle paths.

19. The method of claim 17 further comprising generating a figure of merit for each of the plurality of vehicle paths.

20. The method of claim 19 wherein generating the figure of merit comprises generating a figure of merit for each vehicle path based on at least one of:

an operator workload associated with steering the vehicle to follow the vehicle path;

a number of turns required while following the vehicle path;

a time taken to traverse the vehicle path;

an expected vehicle speed while following the vehicle path;

safety criteria associated with travel along the vehicle path; and

a distance over which the vehicle path extends.

21. The method of claim 1 wherein receiving the start location information comprises receiving data defining a line disposed at the start location, the line being oriented to define the orientation of the vehicle at the start location.

22. The method of claim 21 wherein causing the processor circuit to generate the at least one vehicle path comprises causing the processor circuit to generate a path having an initial trajectory extending from the line and aligned in a direction corresponding to an orientation of the line and wherein a length of the initial trajectory is proportional to a length of the line.

23. The method of claim 2 wherein receiving the end location information comprises receiving data defining a line disposed at the end location, the line being oriented to define the desired orientation of the vehicle at the end location.

24. The method of claim 23 wherein causing the processor circuit to generate the at least one vehicle path comprises causing the processor circuit to generate a path having a finishing trajectory aligned in a direction corresponding to the orientation of the line and wherein a length of the finishing trajectory is proportional to a length of the line.

25. The method of claim 1 wherein receiving the start location information and the end location information comprises causing the processor circuit to display a line in an initial orientation, the line having at least one interactive region for receiving operator input via an input device and further comprising changing at least one of a location and an orientation of the line in response to receiving user input at the at least one interactive region.

26. The method of claim 25 wherein the line comprises a curved line.

27. The method of claim 25 further comprising receiving at the interface, operator input defining a change to the line and further comprising causing the processor circuit to generate an updated vehicle path for travel of the vehicle based on the changed line.

28. The method of claim 1 wherein the vehicle parameters include at least one parameter defining a reference location on the vehicle and wherein generating the vehicle path comprises causing the processor circuit to display a line along which the reference location moves during passage of the vehicle between the start location and the end location.

29. The method of claim 28 wherein the reference location on the vehicle comprises one of:

a location of a steerable wheel of the vehicle; and

a location disposed midway between a pair of steerable wheels of the vehicle.

30. The method of claim 1 wherein causing the processor circuit to generate at least one vehicle path comprises causing the processor circuit to generate a vehicle path for travel of the vehicle in one of a forward direction and a reverse direction between the start location and the end location, the vehicle path being based on the turning behaviour of the vehicle when moving in the respective directions.

31. The method of claim 1 further comprising causing the processor circuit to read vehicle parameters that define extents of the vehicle and generating a swept path of the vehicle for travel along the vehicle path.

32. The method of claim 31 further comprising causing the processor circuit to generate a plurality of geometric elements representing outer edges of the swept path, each geometric element representing at least a portion of the outer edge and having associated data defining a location and a shape of the geometric element.

33. An apparatus for generating a representation of a vehicle path for display via a computer, the apparatus comprising a processor circuit operably configured to:

receive start location information at an interface of the computer, the start location information including a start location and an initial orientation of the vehicle at the start location;

receive end location information at the interface, the end location information including a desired end location of the vehicle;

receive at the interface, a selection of a vehicle for which the vehicle path is to be generated, the vehicle being defined by vehicle parameters that define a turning behaviour of the vehicle;

receive constraint information at the interface, the constraint information identifying at least one constraint to passage of the vehicle between the start location and the end location; and

cause the processor circuit of the computer to generate at least one vehicle path for travel of the vehicle between the start location and the end location, the vehicle path being based on the turning behaviour of the vehicle and being generated such that the vehicle path remains within the at least one constraint.

34. A method for generating a representation for display via a computer of a vehicle path between a start location and an end location, the method comprising:

receiving information at an interface of the computer defining lateral boundaries for movement of the vehicle between the start location and the end location;

receiving at the interface, a selection of a vehicle for which the vehicle path is to be generated, the vehicle being defined by vehicle parameters that define a steering behavior of the vehicle;

generating a negotiable passage between the lateral boundaries based on the steering behavior of the vehicle, the negotiable passage defining a region of between the lateral boundaries within which the vehicle would be able to steer to negotiate the passage without encroaching on the lateral boundaries, at least a portion of the negotiable passage having sufficient lateral extent to permit the vehicle to follow a plurality of different vehicle paths when moving along the portion; and

generating the vehicle path by selecting between the different vehicle paths to reduce steering movements of the vehicle for movement along the negotiable passage.

35. The method of claim 34 wherein receiving information defining lateral boundaries comprises:

receiving data defining a left hand boundary curve extending at least partway between the start location and the end location; and

receiving data defining a right hand boundary curve extending at least partway between the start location and the end location.

36. The method of claim 35 wherein the left hand boundary curve and the right hand boundary curve are represented by continuous Bezier curves.

37. The method of claim 34 wherein at least one obstacle to movement of the vehicle is disposed between the start location and the end location and wherein receiving information defining lateral boundaries comprises generating the lateral boundaries to avoid the at least one obstacle.

38. The method of claim 34 further comprising receiving at the interface, information imposing a movement preference defining preferred portions for vehicle movement within the lateral boundaries.

39. The method of claim 38 wherein the receiving the information imposing a movement preference comprises receiving at least one of:

user input defining a user-preferred portion within the lateral boundaries;

information defining the start location;

information defining the end location;

information defining an area having a movement constriction;

information defining lanes for guiding vehicle movement;

information defining an area that may be encroached on by a vehicle;

information defining a speed constraint; and

information defining a steering rate constraint.

40. The method of claim 34 wherein generating the negotiable passage comprises:

steering the vehicle along an interim vehicle path extending along each of the lateral boundaries while generating a plurality of vehicle extents;

in response to one of the plurality of vehicle extents encroaching on one of the lateral boundaries, spacing the interim vehicle path inwardly until the vehicle extent is able to pass within the one of the lateral boundaries; and

reducing an extent between the lateral boundaries based on the interim vehicle path.