The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 08, 2021
Filed:
Apr. 18, 2019
Toyota Research Institute, Inc., Los Altos, CA (US);
Alexander G. Cunningham, Ann Arbor, MI (US);
Robert A. E. Zidek, Ann Arbor, MI (US);
Noah J. Epstein, Cambridge, MA (US);
Toyota Research Institute, Inc., Los Altos, CA (US);
Abstract
Systems and methods described herein relate to vehicular navigation. One embodiment generates a polyline reference path for a vehicle; stores a representation of the polyline in a data structure; detects a plurality of obstacles ahead of the vehicle; identifies one or more obstacle gates among the plurality of obstacles using path coordinates relative to the reference path, each obstacle gate including at least one cluster of obstacles; identifies one or more gaps within each of the one or more obstacle gates; determines an obstacle-avoidance path for the vehicle that passes through a particular one of the one or more gaps in each of the one or more obstacle gates; and controls one or more aspects of operation of the vehicle based, at least in part, on the obstacle-avoidance path.