Obstacle avoidance guidance for ground vehicles
US11904938B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 16, 2019 |
| Grant date | Feb 20, 2024 |
| Priority date | — |
| Expiry date | Nov 8, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/69
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Systems, methods, and computer program products for guiding vehicles. A vehicle control system detects obstacles and avoids contact between the vehicle, and the obstacles by solving a path planning problem using a four-phase system. In a parking scenario, switching control laws are used to drive the vehicle to a target line, and a forward path segment and a reverse path segment defined. The two path segments are connected along the target line to define a path for entering or exiting the parking space. Objects in a driving environment may be avoided by identifying an obstacle corner, defining an avoidance circle (62), (185) around the obstacle corner, and determining a path that allows the vehicle to avoid penetrating the avoidance circle. A line-of-sight guidance method may be used to follow the path by defining target points on the path at a lookout distance l, and steering the vehicle using the target points.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.