Computer-implemented methods and systems for predicting an area to be traversed by a moving vehicle

• US 9,168,922 B1
• Filed: 06/05/2014
• Issued: 10/27/2015
• Est. Priority Date: 06/05/2014
• Status: Active Grant

• Current Assignee: Raven Industries Incorporated (CNH Industrial N.V.)
• Original Assignee: Jaybridge Robotics, Inc.
• Inventors: Martin, Bradly A.
• Primary Examiner(s): Anwari, Maceeh
• Application Number:
  US14/296,896
• Time in Patent Office: 509 Days
• Field of Search: 701/25
• US Class Current: 1/1
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/12 Lateral speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters

Abstract

Computer-implemented methods and systems are provided for calculating a polygon that estimates the area to be traversed by a moving ground vehicle by merging polygons representing static poses of the vehicle at different times.

Claims

1. A computer-implemented method of predicting an area to be traversed by a moving vehicle as it travels a given distance, the method comprising the steps of:

(a) receiving, at a computer system, one or more dynamic parameters describing a state of the vehicle at a given time including a current speed, yaw rate, initial position, and initial heading of the vehicle;

(b) generating, by the computer system, a sequence of vehicle configuration states based on the one or more dynamic parameters, including at least an initial vehicle configuration state at the initial position of the vehicle and a final vehicle configuration state at a final position of the vehicle after the vehicle has traveled the given distance, each vehicle configuration state indicating an outline of a predicted area to be occupied by the vehicle at a different point in time as the vehicle travels the given distance;

(c) generating, by the computer system, two sequences of one-sided polylines corresponding to the sequence of vehicle configuration states generated in step (b), the two sequences of one-sided polylines comprising a right side sequence of one-sided polylines, each polyline outlining the right side of the vehicle for a vehicle configuration state and a left side sequence of one-sided polylines, each polyline outlining the left side of the vehicle for a vehicle configuration state;

(d) merging the right side sequence of one-sided polylines, by the computer system, to produce a single right side polyline, and merging the left side sequence of one-sided polylines, by the computer system, to produce a single left side polyline, and

(e) combining the single right side polyline and the single left side polyline, by the computer system, to form a single closed polygon representing the predicted area to be traversed by the moving vehicle.

2. The method of claim 1, further comprising repeating steps (a) through (e) a plurality of times as the vehicle travels.

3. The method of claim 1, wherein the single closed polygon representing the predicted area to be traversed by the moving vehicle is used for path planning or in a real time collision avoidance system for the vehicle.

4. The method of claim 1, wherein step (a) further comprises receiving, at the computer system, one or more static parameters for the vehicle, said static parameters including a small angle threshold, a maximum interpose angle, and an interpolated point count for the vehicle, and wherein the sequence of vehicle configuration states is based on the one or more static parameters and the one or more dynamic parameters.

5. The method of claim 1, wherein the vehicle is assumed to maintain a constant steering angle over the given distance.

6. The method of claim 1, wherein if a predicted heading of the vehicle at the final position differs from the initial heading by a given threshold angle, then step (b) comprises generating a sequence of at least three vehicle configuration states.

7. The method of claim 6, wherein the number of vehicle configuration states generated in step (b) is based on the difference between the predicted heading of the vehicle at the final position and the initial heading of the vehicle.

8. The method of claim 6, wherein the number of vehicle configuration states generated in step (b) is determined such that the heading change between any two adjacent vehicle configuration states does not exceed a maximum interpose angle.

9. The method of claim 1, wherein the step of merging the right side sequence of one-sided polylines to produce a single right side polyline comprises repeatedly applying a right polyline intersection operation to merge two polylines to produce a single path with maximal rightmost extent.

10. The method of claim 1, wherein the step of merging the left side sequence of one-sided polylines to produce a single left side polyline comprises repeatedly applying a left polyline intersection operation to merge two polylines to produce a single path with maximal leftmost extent.

11. A computer system, comprising:

at least one processor;

memory associated with the at least one processor; and

a program supported in the memory for predicting an area to be traversed by a moving vehicle as it travels a given distance, the program containing a plurality of instructions which, when executed by the at least one processor, cause the at least one processor to;

(a) receive one or more dynamic parameters describing a state of the vehicle at a given time including a current speed, yaw rate, initial position, and initial heading of the vehicle;

(b) generate a sequence of vehicle configuration states based on the one or more dynamic parameters, including at least an initial vehicle configuration state at the initial position of the vehicle and a final vehicle configuration state at a final position of the vehicle after the vehicle has traveled the given distance, each vehicle configuration state indicating an outline of a predicted area to be occupied by the vehicle at a different point in time as the vehicle travels the given distance;

(c) generate two sequences of one-sided polylines corresponding to the sequence of vehicle configuration states generated in (b), the two sequences of one-sided polylines comprising a right side sequence of one-sided polylines, each polyline outlining the right side of the vehicle for a vehicle configuration state and a left side sequence of one-sided polylines, each polyline outlining the left side of the vehicle for a vehicle configuration state;

(d) merge the right side sequence of one-sided polylines to produce a single right side polyline, and merge the left side sequence of one-sided polylines to produce a single left side polyline, and

(e) combine the single right side polyline and the single left side polyline to form a single closed polygon representing the predicted area to be traversed by the moving vehicle.

12. The system of claim 11, wherein (a) through (e) are repeated a plurality of times as the vehicle travels.

13. The system of claim 11, wherein the single closed polygon representing the predicted area to be traversed by the moving vehicle is used for path planning or in a real time collision avoidance system for the vehicle.

14. The system of claim 11, wherein (a) further comprises receiving one or more static parameters for the vehicle, said static parameters including a small angle threshold, a maximum interpose angle, and an interpolated point count for the vehicle, and wherein the sequence of vehicle configuration states is based on the one or more static parameters and the one or more dynamic parameters.

15. The system of claim 11, wherein the vehicle is assumed to maintain a constant steering angle over the given distance.

16. The system of claim 11, wherein if a predicted heading of the vehicle at the final position differs from the initial heading by a given threshold angle, then (b) comprises generating a sequence of at least three vehicle configuration states.

17. The system of claim 16, wherein the number of vehicle configuration states generated in (b) is based on the difference between the predicted heading of the vehicle at the final position and the initial heading of the vehicle.

18. The system of claim 16, wherein the number of vehicle configuration states generated in (b) is determined such that the heading change between any two adjacent vehicle configuration states does not exceed a maximum interpose angle.

19. The system of claim 11, wherein (d) merge the right side sequence of one-sided polylines to produce a single right side polyline comprises repeatedly apply a right polyline intersection operation to merge two polylines to produce a single path with maximal rightmost extent.

20. The system of claim 11, wherein the (d) merge the left side sequence of one-sided polylines to produce a single left side polyline comprises repeatedly apply a left polyline intersection operation to merge two polylines to produce a single path with maximal leftmost extent.

21. A computer program product for predicting an area to be traversed by a moving vehicle as it travels a given distance, the computer program product residing on a non-transitory computer readable medium having a plurality of instructions stored thereon which, when executed by a computer processor, cause that computer processor to:

(a) receive one or more dynamic parameters describing a state of the vehicle at a given time including a current speed, yaw rate, initial position, and initial heading of the vehicle;

(b) generate a sequence of vehicle configuration states based on the one or more dynamic parameters, including at least an initial vehicle configuration state at the initial position of the vehicle and a final vehicle configuration state at a final position of the vehicle after the vehicle has traveled the given distance, each vehicle configuration state indicating an outline of a predicted area to be occupied by the vehicle at a different point in time as the vehicle travels the given distance;

(c) generate two sequences of one-sided polylines corresponding to the sequence of vehicle configuration states generated in (b), the two sequences of one-sided polylines comprising a right side sequence of one-sided polylines, each polyline outlining the right side of the vehicle for a vehicle configuration state and a left side sequence of one-sided polylines, each polyline outlining the left side of the vehicle for a vehicle configuration state;

(d) merge the right side sequence of one-sided polylines to produce a single right side polyline, and merge the left side sequence of one-sided polylines to produce a single left side polyline, and

(e) combine the single right side polyline and the single left side polyline to form a single closed polygon representing the predicted area to be traversed by the moving vehicle.