# US 10,503,171 B2 · Method and system for determining drivable navigation path for an autonomous vehicle

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- Number: US 10,503,171 B2
- Document ID: US10503171B2
- Status: Granted
- Kind: B2
- Application number: 15/719,674
- Filed: 2017-09-29
- Published: 2019-02-21
- Granted: 2019-12-10
- Earliest claimed: 2017-08-17
- Assignees: Wipro Limited
- Applicants: Wipro Limited
- Inventors: Balaji Sunil Kumar; Manas Sarkar; Shyam Sundar Pal
- Web page: https://patentgrep.com/patent/US10503171B2

## CPC

- G01C 21/3446: {Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes}
- G01C 21/30: Map- or contour-matching
- G01S 17/89: for mapping or imaging
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0268: {using internal positioning means}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

This disclosure relates generally to autonomous vehicle, and more particularly to method and system for determining a drivable navigation path for an autonomous vehicle. In one embodiment, a method may be provided for determining a drivable navigation path for the autonomous vehicle. The method may include receiving a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV). The method may further include deriving a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle. The method may further include determining a set of navigational data points from the navigational FOV, and generating at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.

## Claims

### Claim 1

A method for determining a drivable navigation path for an autonomous vehicle, the method comprising:
receiving, by a navigation device, a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV);
deriving, by the navigation device, a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle, wherein deriving the navigational FOV comprises determining an approachable volume based on a plurality of geometrical parameters of the environmental FOV, an orientation of the base navigation path, and the orientation of the autonomous vehicle, wherein determining the approachable volume comprises determining a deviation in the orientation based on the orientation of the base navigation path and the orientation of the autonomous vehicle and determining a scope of the environmental FOV based on the deviation;
determining, by the navigation device, a set of navigational data points from the navigational FOV; and
generating, by the navigation device, at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.

### Claim 2 (depends on 1)

The method of claim 1, wherein the base navigation path is received from a global positioning system (GPS) based navigation path service provider, wherein the position of the autonomous vehicle is received from a GPS sensor, wherein the orientation of the autonomous vehicle is received from an inertia measurement unit (IMU), and wherein the environmental FOV is received from a light detection and ranging (LIDAR) scanner.

### Claim 3 (depends on 1)

The method of claim 1, wherein the plurality of geometrical parameters comprises a range of LIDAR measurement, a horizontal angle of LIDAR beam elevation, a vertical angle of LIDAR beam elevation, and a height of LIDAR from the ground.

### Claim 4 (depends on 1)

The method of claim 1, further comprising filtering a navigational volume from the approachable volume, wherein the navigational volume comprises a drivable area and a plurality of non-drivable structures in the vicinity of the drivable area.

### Claim 5 (depends on 1)

The method of claim 1, wherein determining the set of navigational data points comprises:
determining a plurality of data points within the navigational FOV;
along each of a plurality of pre-determined distance intervals in the navigational FOV, filtering a plurality of surface data points from the plurality of data points based on their corresponding elevation level and their corresponding base elevation level, wherein a base elevation level is an elevation on which the surface of the drivable navigation path substantially adhere to:
along each of a plurality of pre-determined distance intervals in the navigational FOV, filtering the set of navigational data points from the plurality of surface data points based on their corresponding substantially central positions.

### Claim 6 (depends on 1)

The method of claim 1, wherein generating at least the portion of the drivable navigation path comprises curve fitting along the set of navigational data points.

### Claim 7 (depends on 1)

The method of claim 1, further comprising navigating the autonomous vehicle based on at least the portion of the drivable navigation path.

### Claim 8 (depends on 7)

The method of claim 7, wherein navigating the autonomous vehicle comprises:
determining an offset between at least the portion of the drivable navigation path and a corresponding portion of the base navigation path; and
correcting the navigation of the autonomous vehicle based on the base navigation path and the offset.

### Claim 9

A system for determining a drivable navigation path for an autonomous vehicle, the system comprising:
a navigation device comprising at least one processor and a computer-readable medium storing instructions that, when executed by the at least one processor, cause the at least one processor to:
receive a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV);
derive a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle, wherein deriving the navigational FOV comprises determining an approachable volume based on a plurality of geometrical parameters of the environmental FOV, an orientation of the base navigation path, and the orientation of the autonomous vehicle, wherein determining the approachable volume comprises determining a deviation in the orientation based on the orientation of the base navigation path and the orientation of the autonomous vehicle and determining a scope of the environmental FOV based on the deviation;
determine a set of navigational data points from the navigational FOV; and
generate at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.

### Claim 10 (depends on 9)

The system of claim 9, wherein the base navigation path is received from a global positioning system (GPS) based navigation path service provider, wherein the position of the autonomous vehicle is received from a GPS sensor, wherein the orientation of the autonomous vehicle is received from an inertia measurement unit (IMU), and wherein the environmental FOV is received from a light detection and ranging (LIDAR) scanner.

### Claim 11 (depends on 9)

The system of claim 9, wherein the operations further comprise filtering a navigational volume from the approachable volume, wherein the navigational volume comprises a drivable area and a plurality of non-drivable structures in the vicinity of the drivable area.

### Claim 12 (depends on 9)

The system of claim 9, wherein determining the set of navigational data points comprises:
determining a plurality of data points within the navigational FOV;
along each of a plurality of pre-determined distance intervals in the navigational FOV, filtering a plurality of surface data points from the plurality of data points based on their corresponding elevation level and their corresponding base elevation level, wherein a base elevation level is an elevation on which the surface of the drivable navigation path substantially adhere to;
along each of a plurality of pre-determined distance intervals in the navigational FOV filtering the set of navigational data points from the plurality of surface data points based on their corresponding substantially central positions.

### Claim 13 (depends on 9)

The system of claim 9, wherein generating at least the portion of the drivable navigation path comprises curve fitting along the set of navigational data points.

### Claim 14 (depends on 9)

The system of claim 9, wherein the operations further comprise navigating the autonomous vehicle based on at least the portion of the drivable navigation path.

### Claim 15 (depends on 14)

The system of claim 14, wherein navigating the autonomous vehicle comprises:
determining an offset between at least the portion of the drivable navigation path and a corresponding portion of the base navigation path; and
correcting the navigation of the autonomous vehicle based on the base navigation path and the offset.

### Claim 16

A non-transitory computer-readable medium storing computer-executable instructions for:
receiving a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV);
deriving a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle, wherein deriving the navigational FOV comprises determining an approachable volume based on a plurality of geometrical parameters of the environmental FOV, an orientation of the base navigation path, and the orientation of the autonomous vehicle, wherein determining the approachable volume comprises determining a deviation in the orientation based on the orientation of the base navigation path and the orientation of the autonomous vehicle and determining a scope of the environmental FOV based on the deviation;
determining a set of navigational data points from the navigational FOV; and
generating at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.