Environment-aware path planning for a self-driving vehicle using dynamic step-size search
US12296848B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 27, 2021 |
| Grant date | May 13, 2025 |
| Priority date | — |
| Expiry date | Jan 24, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/3407
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A system and method of planning a path for an autonomous vehicle from the vehicle's initial configuration to the goal configuration which is collision-free, kinematically-feasible, and near-minimal in length. The vehicle is equipped with a plurality of perception sensors such as lidar, camera, etc., and is configured to operate in an autonomous mode. An onboard computing device is configured to process the sensor data and provide a dynamic occupancy grid map of the surrounding environment in real-time. Based on the occupancy grid map, the path planner can quickly calculate a collision-free and dynamically feasible path towards the goal configuration for the vehicle to follow.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.