A method for autonomous navigation of an autonomous vehicle includes: for each scan cycle in a sequence of scan cycles, identifying a group of points, representing an object in a field proximal the autonomous vehicle, in a scan image captured by a sensor on the autonomous vehicle at a scan time; and calculating a function relating possible linear and angular motion of the object at the scan time based on a correlation between radial velocities and positions of points in the group of points. The method also include: estimating current linear and angular motion of the object based on an intersection of a current function, derived from a scan image containing data captured at the current time, and a preceding function, derived from a scan image containing data captured prior to the current time; and electing a navigational action based on the current linear and angular motion of the object.
METHOD FOR OBJECT AVOIDANCE DURING AUTONOMOUS NAVIGATION
26.08.2021
Patent
Elektronische Ressource
Englisch
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