Patent ID: 8898016
Filing Date: 2014-11-25
Classification: B60W,G01C,G05D

Abstract:
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 a sensor device, obtaining measurements of said near field; with said processor, determining, based on said measurements of said near field, the viability of each near field plan among a plurality of candidate near 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 and a near field plan selected from a plurality of candidate near field plans, the selected near field plan having been determined to be viable and being compatible with said far field plan having the highest flexibility score, said candidate near field plans comprising a set of candidate maneuvers, wherein each candidate maneuver is a transition in said near field between a current microlane and a destination microlane selected from among all microlanes, including said current microlane; with said processor, selecting the composite plan by further comparing a quantitative cost of said candidate maneuver within said composite plan, when two or more far field plans share the highest flexibility score.