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US 9,168,922 B1Granted
Computer-implemented methods and systems for predicting an area to be traversed by a moving vehicle
AssigneeJaybridge Robotics, Inc.
InventorBradly A. Martin
Life of this patent
Estimating the term…
Abstract
Computer-implemented methods and systems are provided for calculating a polygon that estimates the area to be traversed by a moving ground vehicle by merging polygons representing static poses of the vehicle at different times.
Claims21
A computer-implemented method of predicting an area to be traversed by a moving vehicle as it travels a given distance, the method comprising the steps of:
- (a) receiving, at a computer system, one or more dynamic parameters describing a state of the vehicle at a given time including a current speed, yaw rate, initial position, and initial heading of the vehicle;
- (b) generating, by the computer system, a sequence of vehicle configuration states based on the one or more dynamic parameters, including at least an initial vehicle configuration state at the initial position of the vehicle and a final vehicle configuration state at a final position of the vehicle after the vehicle has traveled the given distance, each vehicle configuration state indicating an outline of a predicted area to be occupied by the vehicle at a different point in time as the vehicle travels the given distance;
- (c) generating, by the computer system, two sequences of one-sided polylines corresponding to the sequence of vehicle configuration states generated in step (b), the two sequences of one-sided polylines comprising a right side sequence of one-sided polylines, each polyline outlining the right side of the vehicle for a vehicle configuration state and a left side sequence of one-sided polylines, each polyline outlining the left side of the vehicle for a vehicle configuration state;
- (d) merging the right side sequence of one-sided polylines, by the computer system, to produce a single right side polyline, and merging the left side sequence of one-sided polylines, by the computer system, to produce a single left side polyline, and
- (e) combining the single right side polyline and the single left side polyline, by the computer system, to form a single closed polygon representing the predicted area to be traversed by the moving vehicle.
2 more elements
A computer system, comprising:
- at least one processor;
- memory associated with the at least one processor;
- and
- a program supported in the memory for predicting an area to be traversed by a moving vehicle as it travels a given distance, the program containing a plurality of instructions which, when executed by the at least one processor, cause the at least one processor to:
- (a) receive one or more dynamic parameters describing a state of the vehicle at a given time including a current speed, yaw rate, initial position, and initial heading of the vehicle;
- (b) generate a sequence of vehicle configuration states based on the one or more dynamic parameters, including at least an initial vehicle configuration state at the initial position of the vehicle and a final vehicle configuration state at a final position of the vehicle after the vehicle has traveled the given distance, each vehicle configuration state indicating an outline of a predicted area to be occupied by the vehicle at a different point in time as the vehicle travels the given distance;
- (c) generate two sequences of one-sided polylines corresponding to the sequence of vehicle configuration states generated in (b), the two sequences of one-sided polylines comprising a right side sequence of one-sided polylines, each polyline outlining the right side of the vehicle for a vehicle configuration state and a left side sequence of one-sided polylines, each polyline outlining the left side of the vehicle for a vehicle configuration state;
- (d) merge the right side sequence of one-sided polylines to produce a single right side polyline, and merge the left side sequence of one-sided polylines to produce a single left side polyline, and
- (e) combine the single right side polyline and the single left side polyline to form a single closed polygon representing the predicted area to be traversed by the moving vehicle.
6 more elements
A computer program product for predicting an area to be traversed by a moving vehicle as it travels a given distance, the computer program product residing on a non-transitory computer readable medium having a plurality of instructions stored thereon which, when executed by a computer processor, cause that computer processor to:
- (a) receive one or more dynamic parameters describing a state of the vehicle at a given time including a current speed, yaw rate, initial position, and initial heading of the vehicle;
- (b) generate a sequence of vehicle configuration states based on the one or more dynamic parameters, including at least an initial vehicle configuration state at the initial position of the vehicle and a final vehicle configuration state at a final position of the vehicle after the vehicle has traveled the given distance, each vehicle configuration state indicating an outline of a predicted area to be occupied by the vehicle at a different point in time as the vehicle travels the given distance;
- (c) generate two sequences of one-sided polylines corresponding to the sequence of vehicle configuration states generated in (b), the two sequences of one-sided polylines comprising a right side sequence of one-sided polylines, each polyline outlining the right side of the vehicle for a vehicle configuration state and a left side sequence of one-sided polylines, each polyline outlining the left side of the vehicle for a vehicle configuration state;
- (d) merge the right side sequence of one-sided polylines to produce a single right side polyline, and merge the left side sequence of one-sided polylines to produce a single left side polyline, and
- (e) combine the single right side polyline and the single left side polyline to form a single closed polygon representing the predicted area to be traversed by the moving vehicle.
2 more elements
Dependencies are inferred from the claim text.