Method and system for positioning an autonomous vehicle on a navigation map

A system for positioning an autonomous vehicle on a navigation map, 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 perform operations comprising:
• receiving the navigation map, an approximate position and an approximate orientation of the autonomous vehicle on the navigation map, and an environmental field of view (FOV) of the autonomous vehicle;
• determining a first road boundary based on the navigation map and the approximate position of the autonomous vehicle, and a second road boundary based on the environmental FOV and the approximate orientation of the autonomous vehicle;
• determining at least one of an angular deviation and a lateral deviation between the first road boundary and the second road boundary;
• positioning the autonomous vehicle on the navigation map by minimizing at least one the angular deviation and the lateral deviation, based on a plurality of maneuverability sequences,
• wherein the autonomous vehicle is positioned based on command velocities generated for each of the plurality of maneuverability sequences, and
• wherein a maneuverability sequence from the plurality of maneuverability sequences comprises a trajectory along two arms of a right angle triangle, and
• wherein a first portion of the trajectory comprises a forward motion along an arm of the triangle opposite to the right angle, and a second portion of the trajectory comprises a reverse motion along an arm adjacent to the right angle of the triangle.

A non-transitory computer-readable medium storing computer-executable instructions for:

• receiving the navigation map, an approximate position and an approximate orientation of the autonomous vehicle on the navigation map, and an environmental field of view (FOV) of the autonomous vehicle;
• determining a first road boundary based on the navigation map and the approximate position of the autonomous vehicle, and a second road boundary based on the environmental FOV and the approximate orientation of the autonomous vehicle;
• determining at least one of an angular deviation and a lateral deviation between the first road boundary and the second road boundary;
• and
• positioning the autonomous vehicle on the navigation map by minimizing at least one the angular deviation and the lateral deviation, based on a plurality of maneuverability sequences,
• wherein the autonomous vehicle is positioned based on command velocities generated for each of the plurality of maneuverability sequences, and
• wherein a maneuverability sequence from the plurality of maneuverability sequences comprises a trajectory along two arms of a right angle triangle, and
• wherein a first portion of the trajectory comprises a forward motion along an arm of the triangle opposite to the right angle, and a second portion of the trajectory comprises a reverse motion along an arm adjacent to the right angle of the triangle.