[특허]System and method for generating paths in an autonomous vehicle

System and method for generating paths in an autonomous vehicle 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06G-007/70
출원번호	US-0432396 (1995-05-01)
발명자 / 주소	Gudat Adam J. (Edelstein IL) Shin Dong Hun (Pittsburgh PA) Whittaker William L. (Pittsburgh PA) Kleimenhagen Karl W. (Peoria IL) Singh Sanjiv J. (Pittsburgh PA) Christensen Dana A. (Peoria IL) Kemner
출원인 / 주소	Caterpillar Inc. (Peoria IL 02)
인용정보	피인용 횟수 : 59 인용 특허 : 0

초록 ▼

A system for generating a path allows a vehicle to traverse a predetermined route. The system stores route data for the predetermined route. The route data identifies a series of contiguous path segments that form the predetermined route. The route data also identifies a series of nodes located at the beginning and the end of the predetermined route and between adjacent path segments. Each path segment represents a series of postures along the predetermined route. Each posture identifies a position, a heading, and a curvature for the vehicle at a particular point along the predetermined route. The system stores the path segments and nodes as compressed path data. In one embodiment, the compressed path data is a function that is continuous in posture, i.e., continuous in position, heading and curvature. The system retrieves the compressed path data and generates a series of postures from the retrieved compressed path data to allow the vehicle to traverse the predetermined route.

대표청구항 ▼

In a system for enabling a vehicle to traverse a predetermined route, a system for generating a path for the vehicle to track comprising: means for storing route data for the predetermined route, said route data identifying a plurality of path segments forming the predetermined route and a plurality of nodes located along the predetermined route at the beginning and the end of the predetermined route and between adjacent path segments, said path segments representing a plurality of postures of the vehicle, wherein each of said plurality of postures includes a position, a heading, and a curvature for the vehicle along the predetermined route; means for storing said plurality of path segments and said plurality of nodes as compressed path data, said compressed path data representing said plurality of path segments and said plurality of nodes as a function, wherein said function is continuous in posture, said compressed path data reducing an amount of storage required for the predetermined route; means for retrieving said compressed path data associated with the predetermined route; and means for generating a series of postures from said retrieved compressed path data for the vehicle to track thereby allowing the vehicle to traverse the predetermined route.

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System and method for generating paths in an autonomous vehicle 원문보기

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