METHOD AND SYSTEM FOR PLANNING VEHICLE TRAJECTORIES BY ENHANCING EN ROUTE NAVIGATION PERFORMANCE

A method for planning a vehicle trajectory is provided. The method comprises obtaining an edge map representation corresponding to one or more terrain images of a given area, and identifying a total number of edge pixels in each of a plurality of sub-regions of the edge map representation. The metho...

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Bibliographische Detailangaben
Hauptverfasser:	Elgersma, Michael Ray, Bageshwar, Vibhor L
Format:	Patent
Sprache:	eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES HANDLING RECORD CARRIERS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS PRESENTATION OF DATA RADIO DIRECTION-FINDING RADIO NAVIGATION RECOGNITION OF DATA RECORD CARRIERS SIGNALLING TESTING TRAFFIC CONTROL SYSTEMS
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Beschreibung
Zusammenfassung:	A method for planning a vehicle trajectory is provided. The method comprises obtaining an edge map representation corresponding to one or more terrain images of a given area, and identifying a total number of edge pixels in each of a plurality of sub-regions of the edge map representation. The method further comprises determining a measurement probability density function (PDF) for each of the sub-regions based on the number of edge pixels with information content in each sub-region. The method then computes a trajectory cost for each of the sub-regions by dividing a user-selected scalar by a sum of: a user-selected value and the number of edge pixels with information content in each sub-region. Thereafter, the method selects a trajectory for navigation of a vehicle over the given area based on the trajectory cost for each of the sub-regions.