Patent ID: 9279691
Filing Date: 2016-03-08
CPC Classification: B60W,G01C,G05D

Claim Text:
1. A computer implemented method of determining a plan through a space comprising a near field and a far field, comprising: with a sensor device, obtaining measurements of said far field and storing said measurements in an electronic memory; with a processor, determining, based on said measurements of said far field, the viability of each far field plan among a plurality of candidate far field plans; with said processor, determining a flexibility score for each of said candidate far field plans; and with said processor, selecting a composite plan comprising a far field plan having the highest flexibility score among those candidate far field plans that have been determined to be viable; wherein the near field extends along a roadway from a starting transverse line through a current position to a first transverse line though a first future position at a first future time, and where in the far field extends along the roadway from the first transverse line to a second transverse line through a second future position at a second future time.