A navigation system and method for an autonomous vehicle (AV) that includes a system controller and an environmental sensor. The system controller determines a fixed local frame (LCF) having a coordinate system originating at a fixed location in three-dimensional space. Additionally, the system controller determines an AV positional pose in LCF coordinates, which identifies an AV position in three-dimensional space and an AV orientation in three-dimensional space. An environmental sensor detects an asset feature of an asset moving within three-dimensional space. The system controller then identifies an asset feature frame (AFF) having a coordinate system originating at the asset feature. A localization module determines the AV positional pose in the AFF coordinates. The system controller then dynamically transforms the AV position pose from the LCF coordinates to the AFF coordinates and generates a motion control command based on the AV positional pose in the AFF coordinates.
System and method for perceptive navigation of automated vehicles
2023-08-15
Patent
Electronic Resource
English
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