Systems and methods for path determination
AssigneeBeijing Voyager Technology Co., Ltd.
InventorYanlong Wang
Life of this patent
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Abstract
The present disclosure is related to systems and methods for open-surface navigation for a vehicle based on a time-space map. The method includes determining a time-space map of a first area. The time-space map may include a plurality of time-space grids. Each time-space grid may include temporal information and geographic information corresponding to the time-space grid. The method also includes obtaining obstacle status of each of one or more obstacles corresponding to a first time period. The method also includes determining a plurality of navigable grids and a plurality of unnavigable grids among the plurality of time-space grids, based on the obstacle status. The method further includes determining a path for the vehicle based on the plurality of navigable grids.
Claims20
A method implemented on a computing device for open-surface navigation for a vehicle in a search area of a map, the computing device including a memory and a plurality of processing circuits, the method comprising:
- dividing the search area into a plurality of space grids;
- determining a time-space map corresponding to the search area by adding temporal information of the plurality of space grids, wherein each space grid corresponds to a plurality of time-space grids which correspond to a plurality of time intervals respectively, the plurality of time intervals being within a time period;
- obtaining obstacle status of each of one or more obstacles in the search area corresponding to the time period;
- determining a plurality of navigable grids and a plurality of unnavigable grids among the plurality of time-space grids based on the obstacle status, the navigable grid representing a time-space grid not occupied by any obstacle in a time interval corresponding to the time-space grid, the unnavigable grid representing a time-space grid occupied by an obstacle in a time interval corresponding to the time-space grid;
- and
- determining a path for the vehicle based on the plurality of navigable grids.
A system for open-surface navigation for a vehicle in a search area of a map, comprising:
- at least one non-transitory storage medium including a set of instructions;
- and
- processing circuits in communication with the at least one non-transitory storage medium, wherein when executing the set of instructions, the processing circuits are directed to:
- divide the search area into a plurality of space grids;
- determine a time-space map corresponding to the search area by adding temporal information of the plurality of space grids, the time space map including a plurality of time space grids, wherein each space grid corresponds to a plurality of time-space grids which correspond to a plurality of time intervals respectively, the plurality of time intervals being within a time period;
- obtain obstacle status of each of one or more obstacles in the search area corresponding to the time period;
- determine a plurality of navigable grids and a plurality of unnavigable grids among the plurality of time-space grids based on the obstacle status, the navigable grid representing a time-space grid not occupied by any obstacle in a time interval corresponding to the time-space grid, the unnavigable grid representing a time-space grid occupied by an obstacle in a time interval corresponding to the time-space grid;
- and
- determine a path for the vehicle based on the plurality of navigable grids.
A non-transitory computer readable medium comprising executable instructions that, wherein when executed by processing circuits, the executable instructions cause the processing circuits to effectuate a method for open-surface navigation for a vehicle in a search area of a map, the method comprising:
- dividing the search area into a plurality of space grids;
- determining a time-space map corresponding to the search area by adding temporal information of the plurality of space grids, wherein each space grid corresponds to a plurality of time-space grids which correspond to a plurality of time intervals respectively, the plurality of time intervals being within a time period;
- obtaining obstacle status of each of one or more obstacles in the search area corresponding to the time period;
- determining a plurality of navigable grids and a plurality of unnavigable grids among the plurality of time-space grids based on the obstacle status, the navigable grid representing a time-space grid not occupied by any obstacle in a time interval corresponding to the time-space grid, the unnavigable grid representing a time-space grid occupied by an obstacle in a time interval corresponding to the time-space grid;
- and
- determining a path for the vehicle based on the plurality of navigable grids.
Dependencies are inferred from the claim text.