Autonomous path planning in deficient mapping conditions

A computer implemented method of autonomous path planning in an autonomous vehicle for traversing an area in offroad conditions, the method comprising:

• obtaining a map representing an area around the vehicle;
• wherein the map is generated by scanning an area around the vehicle and comprises at least one scanned area and at least one unscanned area;
• generating one or more candidate paths leading the vehicle towards a desired destination, wherein the generating comprises:
• dividing the map into a plurality of subregions, each subregion being defined by one or more respective ranges from the vehicle, including at least:
• short-range subregion, medium-range subregion, and long-range subregion;
• wherein the map is divided into cells, where cells in a scanned area are classified to a class selected from at least two classes, comprising traversable and non-traversable, and wherein cells in an unscanned area are defined as uncharted cells;
• applying a selective path planning logic on uncharted cells depending on the respective subregion in which they are located, wherein:
• in the short-range subregion, considering uncharted cells as non-traversable;
• in the long-range subregion, considering uncharted cells as traversable;
• excluding from the one or more candidate paths, segments that include cells classified as non-traversable and segments that include uncharted cells located in the short-range subregion;
• selecting a preferred path from the one or more candidate paths;
• and
• generating steering instructions for steering the vehicle in accordance with the path.

A computer system mountable on an autonomous vehicle for autonomous path planning for traversing an area in offroad conditions, the system comprising at least one processing circuitry configured to:

• obtain a map representing an area around the vehicle, wherein the map is generated by scanning an area around the vehicle and comprises at least one scanned area and at least one unscanned area;
• generating one or more candidate paths leading the vehicle (from a current location) towards a desired destination, wherein the generating comprises:
• divide the map into a plurality of subregions, each subregion being defined by one or more respective ranges from the vehicle, including at least:
• short-range subregion, medium-range subregion, and long-range subregion;
• wherein the map is divided into cells, where cells in a scanned area are classified to a class selected from at least two classes, comprising traversable and non-traversable, and wherein cells in an unscanned area are defined as uncharted cells;
• apply a selective path planning logic on uncharted cells, depending on the respective subregion in which they are located, wherein:
• in the short-range subregion, considering uncharted cells as non-traversable;
• in the long-range subregion, considering uncharted cells as traversable;
• exclude from the one or more candidate paths segments that include cells classified as non-traversable and segments that include uncharted cells located in the short-range subregion;
• select a preferred path from the one or more candidate paths;
• and generating steering instructions for steering the vehicle in accordance with the path.

An Unmanned Vehicle comprising a system for autonomous path planning for traversing an area in offroad conditions, the system comprising at least one processing circuitry configured to:

• obtain a map representing an area around the vehicle, wherein the map is generated by scanning an area around the vehicle and comprises at least one scanned area and at least one unscanned area;
• generating one or more candidate paths leading the vehicle (from a current location) towards a desired destination, wherein the generating comprises:
• divide the map into a plurality of subregions, each subregion being defined by one or more respective ranges from the vehicle, including at least:
• short-range subregion, medium-range subregion, and long-range subregion;
• wherein the map is divided into cells, where cells in a scanned area are classified to a class selected from at least two classes, comprising traversable and non-traversable, and wherein cells in an unscanned area are defined as uncharted cells;
• apply a selective path planning logic on uncharted cells, depending on the respective subregion in which they are located, wherein:
• in the short-range subregion, considering uncharted cells as non-traversable;
• in the long-range subregion, considering uncharted cells as traversable;
• exclude from the one or more candidate paths segments that include cells classified as non-traversable and segments that include uncharted cells located in the short-range subregion;
• select a preferred path from the one or more candidate paths;
• and generating steering instructions for steering the vehicle in accordance with the path.

A computer-readable storage medium comprising instructions, which, when executed by a computer, cause the computer to perform a method of autonomous path planning in an autonomous vehicle for traversing an area in offroad conditions, the method comprising:

• obtaining a map representing an area around the vehicle;
• wherein the map is generated by scanning an area around the vehicle and comprises at least one scanned area and at least one unscanned area;
• generating one or more candidate paths leading the vehicle towards a desired destination, wherein the generating comprises:
• dividing the map into a plurality of subregions, each subregion being defined by one or more respective ranges from the vehicle, including at least:
• short-range subregion, medium-range subregion, and long-range subregion;
• wherein the map is divided into cells, where cells in a scanned area are classified to a class selected from at least two classes, comprising traversable and non-traversable, and wherein cells in an unscanned area are defined as uncharted cells;
• applying a selective path planning logic on uncharted cells depending on the respective subregion in which they are located, wherein:
• in the short-range subregion, considering uncharted cells as non-traversable;
• in the long-range subregion, considering uncharted cells as traversable;
• excluding from the one or more candidate paths, segments that include cells classified as non-traversable and segments that include uncharted cells located in the short-range subregion;
• selecting a preferred path from the one or more candidate paths;
• and generating steering instructions for steering the vehicle in accordance with the path.