发明名称 |
METHOD AND SYSTEM FOR OBSTACLE AVOIDANCE FOR A VEHICLE |
摘要 |
A mapping module or path filtering module is arranged to identify admissible curved paths for which the vehicle is able to stop prior to reaching a detected obstacle in accordance with an observed translational velocity and an observed rotational velocity. A data processor determines a respective objective function for the candidate translational velocities and candidate rotational velocities associated with the admissible curved paths, where the objective function includes a curvature comparison term associated with the last curved path of the vehicle. A search engine or data processor selects preferential velocities, among the candidate translational velocities and candidate rotational velocities, with a superior value for its corresponding objective function. A path planning module or data processor determines the vehicular speed and trajectory for a path plan that avoids the obstacle consistent with the selected preferential velocities.
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申请公布号 |
US2009093960(A1) |
申请公布日期 |
2009.04.09 |
申请号 |
US20070867152 |
申请日期 |
2007.10.04 |
申请人 |
PUHALLA JEFFREY SCOTT;MAIRET DANIEL WAYNE |
发明人 |
PUHALLA JEFFREY SCOTT;MAIRET DANIEL WAYNE |
分类号 |
G01C21/00;B60W30/16;G06F19/00 |
主分类号 |
G01C21/00 |
代理机构 |
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地址 |
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