Simple technique for dynamic path planning and collision avoidance
AssigneeGM Global Technology Operations LLC
InventorsSuresh SUNDARRAJ, Rajesh RAGHAVAN, Bhargav Ramchandra BELLUR
Life of this patent
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Abstract
A system and method for dynamically mapping the position and speed of objects around a vehicle for collision avoidance purposes. The method determines the velocity of the vehicle in at least two orthogonal directions along with the position of the vehicle. From this information, a distance function map of the vehicle is created in a predefined area that includes a distance value at concentric locations from the vehicle. The distance function map is combined with distance function maps from all of the objects in the predefined area to determine whether a potential collision exists between the particular vehicle and any of the other objects.
Claims20
A method for determining the potential for a collision of a vehicle with an object in a defined area, said method comprising:
- determining the velocity of the vehicle in at least two orthogonal directions;
- determining the position of the vehicle;
- determining a distance function including distance values of the vehicle at a plurality of concentric locations away from the vehicle and creating a distance function map from the plurality of distance functions in the defined area;
- and
- combining the distance function map of the vehicle with a distance function map from other vehicles or other static object obtained from a terrain database corresponding to the geographic area in which the vehicle is present in the defined area to create a composite distance function map to determine the relative positions and velocities of the vehicles to determine the potential for a collision.
A method for determining the potential for a collision of a vehicle with an object, said method comprising:
- defining a region including vehicles within a defined region;
- determining the velocity of the vehicle in two orthogonal directions at regular intervals;
- determining the position of the vehicle;
- determining a distance function including a distance value of the vehicle at a plurality of concentric locations away from the vehicle and creating a distance function map from the plurality of distance functions in the defined region;
- combining the distance function map of the vehicle with a distance function map from other vehicles in the defined region along with other static objects obtained from a terrain database corresponding to the geographic area in which the vehicle is present to create a composite distance function map;
- and
- transmitting information including the distance functions between the vehicles in the defined region to determine the relative positions and velocities of the vehicles to determine the potential for a collision.
A system for determining the potential for a collision of a vehicle with an object in a defined area, said system comprising:
- means for determining the velocity of the vehicle in at least two orthogonal directions;
- means for determining the position of the vehicle;
- means for determining a distance function including distance values of the vehicle at a plurality of concentric locations away from the vehicle and creating a distance function map from the plurality of distance functions in the defined area;
- and
- means for combining the distance function map of the vehicle with a distance function map from other vehicles in the defined area to create a composite distance function map to calculate the relative positions and velocities of the vehicles to determine the potential for a collision.
Dependencies are inferred from the claim text.