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US 12,761,037 B2Granted
Path planning method, server, and vehicle
AssigneeYinwang Intelligent Technologies Co., Ltd.
InventorJing Zhang
Life of this patent
Estimating the term…
Abstract
A path planning method includes a server that obtains a first path. The first path is from a current location of the vehicle to a task destination. The first path includes one or more segments of roads. The server determines planning time information for the vehicle to travel on each of the one or more segments of roads. When the vehicle travels based on the planning time information on each segment of road, a total quantity of vehicles on each segment of road is less than or equal to a capacity of each segment of road. The server sends path information to the vehicle. The path information includes information about at least one of the one or more segments of roads and planning time information for the vehicle to travel on the at least one segment of road.
Claims20
A path planning method comprising:
- sending first information comprising telemetry information, wherein the telemetry information comprises at least one of a current location of a vehicle, a yawing angle of the vehicle, or a velocity of the vehicle;
- receiving, in response to the first information, path information comprising second information about a segment of a road and planning time information for the vehicle to travel on the segment, wherein a total quantity of vehicles on the segment is less than or equal to a capacity of the segment based on the planning time information, wherein the planning time information comprises third information indicating a first moment at which the vehicle is to enter the segment and fourth information indicating a second moment at which the vehicle is to leave the segment, wherein the path information further comprises driving mode information specifying a driving mode for the vehicle on the segment, and wherein the driving mode comprises at least one of a straight-line driving mode, a natural turning mode, or a crab mode;
- receiving indication information instructing either the vehicle to leave the segment before a third moment or the vehicle to enter the segment after a fourth moment, wherein the third moment is either the same as the first moment or after the first moment, and wherein the fourth moment is either the same as the second moment or before the second moment;
- obtaining, based on the segment, a path from the current location to a task destination;
- and
- controlling movement of the vehicle on the path by adjusting the velocity based on the planning time information to cause the vehicle to reach the segment of the path at a moment specified by the planning time information, and by activating the driving mode specified by the driving mode information on the segment.
3 more elements
An apparatus comprising:
- one or more memories configured to store programming instructions;
- and
- at least one processor coupled to the one or more memories and configured to execute the programming instructions to cause the apparatus to:
- receive, from a first vehicle, telemetry information comprising at least one of a current location of the first vehicle, a yawing angle of the first vehicle, or a velocity of the first vehicle;
- obtain, based on the telemetry information, a path that is from the current location of the first vehicle to a task destination, wherein the path comprises a segment of a road;
- determine planning time information for the first vehicle to travel on the segment by allocating, based on a capacity of the segment and an existing time window occupancy of the segment by other vehicles, a time window for the first vehicle to enter and leave the segment such that a total quantity of vehicles on the segment does not exceed the capacity at any moment within the time window, wherein the planning time information comprises second information indicating a first moment at which the first vehicle enters the segment and third information indicating a second moment at which the first vehicle leaves the segment;
- determine driving mode information specifying a driving mode for the first vehicle on the segment, wherein the driving mode comprises at least one of a straight-line driving mode, a natural turning mode, or a crab mode;
- identify that, between the first moment and the second moment, the total quantity of vehicles on the segment is greater than the capacity of the segment and a priority of the first vehicle is higher than that of a second vehicle;
- send, to the first vehicle, path information comprising first information about the segment, the driving mode information, and the planning time information;
- and
- send, to the second vehicle and in response to identifying that, between the first moment and the second moment, the total quantity of vehicles on the segment is greater than the capacity and the priority is higher than that of the second vehicle, indication information instructing either the second vehicle to leave the segment before the first moment or the second vehicle to enter the segment after the second moment.
8 more elements
An apparatus comprising:
- one or more memories configured to store programming instructions;
- and
- at least one processor coupled to the one or more memories and configured to execute the programming instructions to cause the apparatus to:
- send, to a server, first information comprising telemetry information, wherein the telemetry information comprises at least one of a current location of the apparatus, a yawing angle of the apparatus, or a velocity of the apparatus;
- receive, from the server and in response to the first information, path information comprising second information about a segment of a road, driving mode information specifying a driving mode for the apparatus on the segment, wherein the driving mode comprises at least one of a straight-line driving mode, a natural turning mode, or a crab mode, and planning time information of the apparatus traveling on the segment, wherein a total quantity of vehicles on the segment is less than or equal to a capacity of the segment when the apparatus travels based on the planning time information;
- obtain, based on the segment, a path from the current location to a task destination;
- determine that checking of the second information or the planning time information has succeeded before traveling on the path based on the path information;
- and
- control movement of the apparatus on the path by adjusting the velocity of the apparatus based on the planning time information to cause the apparatus to reach the segment of the path at a moment specified by the planning time information, and by activating the driving mode specified by the driving mode information on the segment.
6 more elements
Dependencies are inferred from the claim text.