Curved path approximation in vehicle guidance systems and methods
US9804603B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 18, 2016 |
| Grant date | Oct 31, 2017 |
| Priority date | — |
| Expiry date | Mar 18, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0088
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Improved vehicle guidance systems and methods are provided. A generated guidance curve approximates a vehicle trajectory path comprising a set of two-dimensional reference points. The guidance curve is based on a summed and weighted radial basis functions. Weighting is associated with coefficients calculated using linear least-squares regression to minimize approximation error between the guidance curve and the vehicle trajectory path. Guidance instructions are based, at least in part, on a nearest location point, and a tangent direction and curvature of the guidance curve at the nearest location point. The controller autonomously guides the vehicle along the guidance curve. The basis functions can have a cardinality less than a cardinality of the reference points. A distorting effect at the path ends can be minimized by augmenting the path ends of the vehicle trajectory path. Irregular reference point spacing can be mitigated using regularization techniques.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.