A system and method for providing path planning and generation in a semi-autonomous or autonomously driven vehicle that provides a steering correction for collision avoidance purposes. The method includes detecting a lane center of a roadway lane that the vehicle is traveling along and determining a lane centering path that directs the vehicle from its current position to the lane center. The method also includes detecting a moving object in front of the vehicle and determining if a collision between the vehicle and the object will occur if the vehicle travels along the lane centering path at the current vehicle speed. The method solves a fifth-order polynomial equation to define a collision avoidance path from the current vehicle position to a waypoint a safe distance from the object and a return path from the waypoint to the lane center that the vehicle is automatically steered along.
Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle
05.01.2016
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver
Europäisches Patentamt | 2016
|UNIFIED MOTION PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE IN OBSTACLE AVOIDANCE MANEUVER
Europäisches Patentamt | 2015
|DETERMINATION OF DRIVING ROUTE FOR AUTOMATIC DRIVING FOR AVOIDING MOVING OBSTACLE
Europäisches Patentamt | 2019
|LEARNING-BASED SPEED PLANNER FOR AUTONOMOUS DRIVING VEHICLE
Europäisches Patentamt | 2019
|LEARNING-BASED CRITIC FOR TUNING A MOTION PLANNER OF AUTONOMOUS DRIVING VEHICLE
Europäisches Patentamt | 2023
|