Method and system for obstacle avoidance for a vehicle

Details Method and system for obstacle avoidance for a vehicle Method and system for obstacle avoidance for a vehicle

2007-10-04

2011-11-15

Tran, Khoi (Department: 3664)

Data processing: vehicles, navigation, and relative location

Relative location

Collision avoidance

C701S093000, C701S209000

Reexamination Certificate

active

08060306

ABSTRACT:
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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