Method and system for obstacle avoidance for a vehicle
US8060306B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 4, 2007 |
| Grant date | Nov 15, 2011 |
| Priority date | — |
| Expiry date | Sep 14, 2030 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2554/4041
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A mapping module or path filtering module is arranged to identify admissible curved paths for which the vehicle is able to stop prior to reaching a detected obstacle in accordance with an observed translational velocity and an observed rotational velocity. A data processor determines a respective objective function for the candidate translational velocities and candidate rotational velocities associated with the admissible curved paths, where the objective function includes a curvature comparison term associated with the last curved path of the vehicle. A search engine or data processor selects preferential velocities, among the candidate translational velocities and candidate rotational velocities, with a superior value for its corresponding objective function. A path planning module or data processor determines the vehicular speed and trajectory for a path plan that avoids the obstacle consistent with the selected preferential velocities.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.