Automated driving obstacle avoidance along a path
AssigneeAUMOVIO Autonomous Mobility US, LLC
InventorJoseph Burtch
Life of this patent
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Abstract
A method of autonomously defining a vehicle path according to a disclosed exemplary embodiment includes, among other possible things, detecting an object that is disposed within a predetermined path with a sensor system within a vehicle, defining an avoidance clearance around the detected object with a vehicle control system within the vehicle, defining a look-ahead clearance centered on a portion of the vehicle with the vehicle control system, detecting intersections between the avoidance clearance and the look-ahead clearance with the vehicle control system, and changing the vehicle path based on the intersections between the avoidance clearance and the look-ahead clearance.
Claims16
A method of autonomously defining a vehicle path comprising:
- detecting an object that is disposed within a predetermined path with a sensor system within a vehicle;
- defining an avoidance clearance around the detected object with a vehicle control system within the vehicle, wherein the avoidance clearance around the detected object comprises a circular area centered on the object;
- defining a look-ahead clearance centered on a portion of the vehicle with the vehicle control system, wherein the look-ahead clearance comprises a circular area, and the vehicle portion comprises a midpoint of an axle of the vehicle controlling a heading of the vehicle;
- detecting two intersections between the avoidance clearance and the look-ahead clearance with the vehicle control system;
- and
- changing the vehicle path based on the two intersections between the avoidance clearance and the look-ahead clearance.
An autonomous vehicle control system comprising:
- a controller mountable within a vehicle that is configured to:
- detect an object that is disposed within a predetermined path with a sensor system within a vehicle;
- define an avoidance clearance around the detected object with a vehicle control system within the vehicle, wherein the avoidance clearance around the detected object comprises a circular area centered on the object;
- define a look-ahead clearance centered on a portion of the vehicle with the vehicle control system, wherein the look-ahead clearance comprises a circular area, and the vehicle portion comprises a midpoint of an axle of the vehicle controlling a heading of the vehicle;
- detect two intersections between the avoidance clearance and the look-ahead clearance with the vehicle control system;
- and
- change a vehicle path based on the detected two intersections between the avoidance clearance and the look-ahead clearance.
A non-transitory computer readable storage medium including instructions for operating an autonomous vehicle control system, the non-transitory computer readable storage medium including:
- instructions to prompt a controller to detect an object that is disposed within a predetermined path with a sensor system within a vehicle;
- instructions to prompt a controller to define an avoidance clearance around the detected object with a vehicle control system within the vehicle, wherein the avoidance clearance around the detected object comprises a circular area centered on the detected object;
- instructions to prompt a controller to define a look-ahead clearance centered on a portion of the vehicle with the vehicle control system, wherein the look-ahead clearance comprises a circular area, and the vehicle portion comprises a midpoint of an axle of the vehicle controlling a heading of the vehicle;
- instructions to prompt a controller to detect two intersections between the avoidance clearance and the look-ahead clearance with the vehicle control system;
- and
- instructions to prompt a controller to change a vehicle path based on the detected two intersections between the avoidance clearance and the look-ahead clearance.
Dependencies are inferred from the claim text.