Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver
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United States of America Patent
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Oct 4, 2016
Grant Date -
Dec 10, 2015
app pub date -
Jun 5, 2014
filing date -
Jun 5, 2014
priority date (Note) -
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Abstract
A method for automated lane centering and/or lane changing purposes for a vehicle traveling on a roadway that employs roadway points from a map database to determine a reference vehicle path and sensors on the vehicle for detecting static and moving objects to adjust the reference path. The method includes reducing the curvature of the reference path to generate a reduced curvature reference path that reduces the turning requirements of the vehicle and setting the speed of the vehicle from posted roadway speeds from the map database. The method also includes providing multiple candidate vehicle paths and vehicle speeds to avoid the static and moving objects in front of the vehicle.
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