US 8,050,863 B2 · Navigation and control system for autonomous vehicles

Abstract

A navigation and control system including a sensor configured to locate objects in a predetermined field of view from a vehicle. The sensor has an emitter configured to repeatedly scan a beam into a two-dimensional sector of a plane defined with respect to a first predetermined axis of the vehicle, and a detector configured to detect a reflection of the emitted beam from one of the objects. The sensor includes a panning mechanism configured to pan the plane in which the beam is scanned about a second predetermined axis to produce a three dimensional field of view. The navigation and control system includes a processor configured to determine the existence and location of the objects in the three dimensional field of view based on a position of the vehicle and a time between an emittance of the beam and a reception of the reflection of the emitted beam from one of the objects.

Claims33

Dependent claims

A method for identification of an object in a path of a vehicle for subsequent navigation and control of the vehicle, comprising:

scanning repeatedly an emitted beam from an emitter into a two-dimensional sector of a plane defined with respect to a first predetermined axis of the vehicle;
detecting at the vehicle a part of the emitted beam scattered to a detector by the object in the path of the vehicle;
producing a three dimensional field of view including contour elevation of the object in the path of the vehicle by mechanically panning the plane in which the beam is scanned about a second predetermined axis during said scanning into a two-dimensional sector, said mechanically panning oscillating a housing having attached inside both the emitter and the detector so that the housing, the emitter, and the detector oscillate about the second predetermined axis of the vehicle while moving the vehicle;
and
determining whether the object in the three dimensional field of view obtained during vehicle movement is an obstacle for vehicle avoidance based on the contour elevation of the object.

2 more elements

A method for navigation and control of an autonomous vehicle along a predetermined path, comprising:

scanning repeatedly an emitted beam about a first predetermined axis and through a first angular sector;
panning the emitted beam about a second predetermined axis different from the first predetermined axis and through a second angular sector;
detecting at the vehicle a returned part of the emitted beam scattered by an object;
associating the returned part of the emitted beam with a first angular position α in the first angular sector and a second angular position β in the second angular sector of the emitted beam;
determining a geospatial coordinate of the vehicle, a speed of the vehicle, and a heading of the vehicle,
determining a geospatial coordinate of the object based on the first angular position α, the second angular position β, the speed of the autonomous vehicle, the geospatial coordinate of the vehicle, and the heading of the vehicle;
and
controlling movement of the vehicle to avoid collision with the object based at least in part on the geospatial coordinates of the object and of the vehicle and the speed of the vehicle.

5 more elements

Dependencies are inferred from the claim text.

Navigation and control system for autonomous vehicles

Life of this patent

Navigation and control system for autonomous vehicles

Life of this patent

Abstract

Claims33