Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Automatic route guidance vehicle
Reexamination Certificate
2011-06-07
2011-06-07
Beaulieu, Yonel (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Automatic route guidance vehicle
C701S301000, C340S435000, C340S436000
Reexamination Certificate
active
07957858
ABSTRACT:
A method involves calculating a closest point of approach (CPA) between a vehicle and a moving obstacle, determining the CPA is within a pre-determined distance from the vehicle at a point in time along the vehicle path, calculating a projected obstacle area (POA) for the moving obstacle, and modifying the vehicle path so the vehicle avoids the POA. The POA is a polygonal region between the boundaries calculated by determining a first point in time along the obstacle path that the moving obstacle is within the pre-determined distance, determining a second point in time along the obstacle path that the moving obstacle is within the pre-determined distance, creating a first line on one side of a midpoint line based upon a pre-determined angle of uncertainty, and creating a second line on the other side of the midpoint line based upon the pre-determined angle of uncertainty.
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Bruch Michael H.
Larson Jacoby R.
Beaulieu Yonel
Eppele Kyle
Friedl Ryan J.
The United States of America as represented by the Secretary of
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