US 12,606,209 B2 · Lane biasing for navigating machines

Abstract

In various examples, lane biasing for navigating around objects in autonomous systems and applications is described. Systems and methods are disclosed that generate lane (or other demarcated regions of an environment) geometries in environments—such as environments without clear lane or boundary demarcations—by using locations and poses of static objects and/or outputs of a drivable free-space analysis. The systems and methods then use the lane geometries, the locations of the static objects, and current paths (e.g., centerlines of the current paths) along the lanes to determine new paths for navigating around the static objects. For instance, the new paths may be determined by shifting the centerlines of the current paths in directions away from the static objects by some distance or safety margin. This way, the vehicles may navigate around the static objects with greater distances between the vehicles and the static objects for increased safety.

Claims20

Dependent claims

A method comprising:

determining a first edge of a lane of an ego-machine, a second edge of the lane, and a first centerline associated with a first path of the ego-machine, the first centerline being located approximately at a first center between the first edge and the second edge;
determining, based at least on one or more locations of one or more static objects located between the first edge of the lane and the second edge of the lane, a third edge associated with the lane;
determining a distance for shifting the first centerline based at least on the first center between the first edge and the second edge and a second center between the second edge and the third edge;
determining, based at least on shifting the first centerline in a direction that is away from the first edge and by the distance, a second centerline that is located approximately at the second center between the second edge and the third edge;
determining, based at least on the second centerline, a second path of the ego-machine;
and
causing the ego-machine to navigate based at least on the second path.

4 more elements

A system comprising:

one or more processors to:
determine, based at least on first edges of a lane, a first line associated with a first path of an ego-machine;
determine, based at least on a width of the ego-machine, second edges associated with the first path of the ego-machine;
determine, based at least on one or more locations of one or more static objects located between the first edges of the lane, a first intersection between at least one of the second edges and a static object of the one or more static objects;
determine, based at least on the first intersection and by incrementally shifting the first path in a direction away from the one or more locations of the one or more static objects by a set distance using one or more shifting iterations, a second line associated with a second path of the ego-machine;
determine, based at least on the width of the ego-machine, third edges associated with the second path of the ego-machine;
determine, based at least on the one or more locations of the one or more static objects, that the third edges avoid a second intersection with the one or more static objects;
and
cause the ego-machine to navigate based at least on the second path.

6 more elements

Dependencies are inferred from the claim text.

Lane biasing for navigating machines

Life of this patent

Lane biasing for navigating machines

Life of this patent

Abstract

Claims20