Apparatus and method for autonomous vehicle navigation using path data
First Claim
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1. A system for navigating a vehicle along a predetermined route comprising:
- means for storing route data representing the predetermined route, said route data including a plurality of contiguous path segments, each path segment connecting two nodes;
means for storing path data for the predetermined route, said path data including postures of the vehicle along each path segment;
means for retrieving from said route data storing means route data representing the predetermined route;
means for retrieving from said path data storing means path data for said retrieved route data;
means for generating a path from said retrieved path data, said path representing at least a portion of said predetermined route;
means for associating vehicle commands with said path;
means for executing said associated vehicle commands to cause the vehicle to follow said path;
means for periodically calculating errors in following said path; and
means, responsive to said calculated errors, for adjusting execution of said associated vehicle commands to reduce said calculated errors so that the vehicle tracks said path with a high degree of accuracy.
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Abstract
An apparatus and method for navigating a vehicle along a predetermined route use route data and path data to define the predetermined route. The route data represents one or more contiguous path segments between adjacent nodes along the predetermined route. The path data includes postures of the vehicle along each of the path segments. The postures define the desired position, heading, curvature and speed of vehicle at various locations along the path segments. The apparatus and method use the posture information to generate and track a path thereby allowing the vehicle to navigate along the predetermined route.
490 Citations
14 Claims
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1. A system for navigating a vehicle along a predetermined route comprising:
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means for storing route data representing the predetermined route, said route data including a plurality of contiguous path segments, each path segment connecting two nodes; means for storing path data for the predetermined route, said path data including postures of the vehicle along each path segment; means for retrieving from said route data storing means route data representing the predetermined route; means for retrieving from said path data storing means path data for said retrieved route data; means for generating a path from said retrieved path data, said path representing at least a portion of said predetermined route; means for associating vehicle commands with said path; means for executing said associated vehicle commands to cause the vehicle to follow said path; means for periodically calculating errors in following said path; and means, responsive to said calculated errors, for adjusting execution of said associated vehicle commands to reduce said calculated errors so that the vehicle tracks said path with a high degree of accuracy. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of navigating a vehicle along a predetermined route comprising the steps of:
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(1) storing route data representing the predetermined route, said route data including a plurality of path segments, each path segment connecting two nodes; (2) storing path data for the predetermined route, said path data including postures of the vehicle along each path segments; (3) retrieving route data representing the predetermined route; (4) retrieving path data for said retrieved route data; (5) generating a path from said retrieved path data, said path representing at least a portion of the predetermined route; (6) associating vehicle commands with said generated path; (7) executing associated vehicle commands to cause the vehicle to attempt to follow said generated path; (8) periodically calculating errors in following said generated path; and (9) adjusting, in accordance with said calculated errors, execution of associated vehicle commands to reduce said calculated errors so that the vehicle tracks said generated path with a high degree of accuracy. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification