US 2025/0050866 A1 · Motion Planning with Variable Grid Resolution for Graph-Search-Based Planning

Abstract

This document describes motion planning with variable grid resolution for graph-search-based planning. An example system includes a processor that obtains an initial pose, a goal pose, and an obstacle map for an environment. The processor uses a motion-planning algorithm to determine a path or trajectory using two or more grid resolutions for a graph-based search. The path includes a series of waypoints, including two-dimensional positional coordinates (and time coordinates if a trajectory), to navigate from the initial pose towards the goal pose. Operation of the host vehicle is then controlled to maneuver along the path using an assisted-driving or autonomous-driving system. In this way, motion planning is performed for the entire path but uses a coarser grid resolution for the portion nearer the goal pose. This allows motion planning for autonomous parking, especially in environments that include static and dynamic objects, to be handled in a more computationally-efficient manner.

Claims20

Dependent claims

A method comprising:

obtaining an initial pose and a goal pose of a host vehicle;
obtaining an obstacle map for an environment that includes the initial pose and the goal pose;
determining, using the obstacle map and two or more grid resolutions for a graph-based search by a motion-planning algorithm, a path, the path including a series of waypoints that includes two-dimensional (2D) positional coordinates for the host vehicle to navigate from the initial pose toward the goal pose;
and
controlling, using an assisted-driving or an autonomous-driving system, operation of the host vehicle to maneuver along the path toward the goal pose.

2 more elements

A system comprising one or more processors configured to:

obtain an initial pose and a goal pose of a host vehicle;
obtain an obstacle map for an environment that includes the initial pose and the goal pose;
determine, using the obstacle map and two or more grid resolutions for a graph-based search by a motion-planning algorithm, a path, the path including a series of waypoints that includes two-dimensional (2D) positional coordinates for the host vehicle to navigate from the initial pose toward the goal pose;
and
control, using an assisted-driving or an autonomous-driving system, operation of the host vehicle to maneuver along the path toward the goal pose.

2 more elements

Dependencies are inferred from the claim text.

Motion Planning with Variable Grid Resolution for Graph-Search-Based Planning

Life of this patent

Motion Planning with Variable Grid Resolution for Graph-Search-Based Planning

Life of this patent

Abstract

Claims20