System and method for planning a vehicle path

Patent metadata

Field	Value
Publication number	US-2019004524-A1
Application number	US-201715691617-A
Country	US
Kind code	A1
Filing date	Aug 30, 2017
Priority date	Aug 31, 2016
Publication date	Jan 3, 2019
Grant date	—

Abstract

A system and method for determining a path for autonomous navigation based on user input is described. The vehicle can include one or more sensors to collect data for generating a three-dimensional (3D) model of the vehicle's surroundings. A two-dimensional (2D) occupancy grid map can be generated from the 3D model and displayed at a computing device. In some examples, the occupancy grid map can be displayed at a user interface of the electronic device. The user interface can further accept user input in the form of one or more of a user-defined path, an endpoint, a vehicle pose, or a series of waypoints. Based on the user input, a finalized path for autonomous vehicle travel can be determined. Determining a finalized path can include determining an optimal, minimum-distance path, applying a smoothing algorithm, and/or applying a constraint to maintain a minimum distance from any static obstacles near the vehicle. While traveling along the finalized path, one or more sensors can monitor the vehicle's surroundings for obstacles. In response to a detected obstacle, the vehicle can stop and/or determine a new path for travel.

First claim

1 . A method of determining a path of travel for a vehicle, the method comprising:
generating a three-dimensional (3D) model of the vehicle's surroundings; converting the 3D model to a two-dimensional (2D) occupancy grid map; receiving a user input indicative of one or more points along a desired path; determining a finalized path in accordance with the user input; and autonomously driving along the finalized path.

2 . The method of claim 1 , wherein the 3D model is generated based on data from one or more sensors included in the vehicle.

3 . The method of claim 1 , wherein the occupancy grid map includes a footprint of one or more objects included in the 3D model.

4 . The method of claim 1 , wherein the user input includes one or more of a user-defined path, an endpoint, a vehicle pose, and a series of waypoints.

5 . The method of claim 1 , wherein the user input is received at a computing device operatively coupled to the vehicle.

6 . The method of claim 1 , further comprising generating an optimal path based on the user input.

7 . The method of claim 1 , further comprising generating a smooth path based on the user input.

8 . The method of claim 1 , wherein the finalized path is at least a pre-defined minimum distance away from any obstacles included in the occupancy grid map at all points.

9 . The method of claim 1 , further comprising, while driving autonomously:
in accordance with a determination that there is an obstacle along the finalized path, stopping the vehicle.

10 . The method of claim 9 , further comprising:
in accordance with the determination that there is an obstacle along the finalized path, determining a new path and driving along the new path.

11 . The method of claim 9 , further comprising:
in accordance with a determination that there is no longer an obstacle along the finalized path, resuming driving along the finalized path.

12 . A vehicle comprising a processor, the processor configured for:
generating a three-dimensional (3D) model of the vehicle's surroundings; converting the 3D model to a two-dimensional (2D) occupancy grid map; receiving a user input indicative of one or more points along a desired path; determining a finalized path in accordance with the user input; and autonomously driving along the finalized path.

13 . A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors of a vehicle, causes the processor to perform a method of determining a path of travel for the vehicle, the method comprising:
generating a three-dimensional (3D) model of the vehicle's surroundings; converting the 3D model to a two-dimensional (2D) occupancy grid map; receiving a user input indicative of one or more points along a desired path; determining a finalized path in accordance with the user input; and autonomously driving along the finalized path.

Assignees

• Faraday&Future Inc

Inventors

• Wang Yizhou
• Liu Changliu
• Chen Xiaoying
• Wang Chongyu
• Ni Kai

Classifications

• B60W2554/20

  Static objects · CPC title

• G01C21/3415 Primary

  Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title