Deterministic path planning for controlling vehicle movement
US10809732B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 25, 2018 |
| Grant date | Oct 20, 2020 |
| Priority date | — |
| Expiry date | Dec 6, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2720/24
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A system for controlling a movement of a vehicle from an initial state of the vehicle and a target state of the vehicle constructs a graph having multiple nodes defining states of the vehicle and including an initial node defining the initial state of the vehicle and a target node defining the target state of the vehicle and determines a path through the graph connecting the initial node with the target node. The system determines the graph using doubletree construction with an initial tree of nodes originating at the initial node and a target tree of nodes originating at the target node. The doubletree construction is configured to select an expandable node in the initial tree or the target tree based on a cost of the expandable node, and expand the graph by adding a child node connected to the expandable node with an edge defined by a collision free primitive motion, such that a cost of the child node is less than the cost of the expandable node.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.