GB2592197A

GB2592197A - Autonomous vehicle and system thereof

Info

Publication number: GB2592197A
Application number: GB2002183.8A
Authority: GB
Inventors: Aleksic Mario; Bracht Alexander; Maisenbacher Stefan; Shetty Cheltan
Original assignee: Daimler AG
Current assignee: Mercedes Benz Group AG
Priority date: 2020-02-18
Filing date: 2020-02-18
Publication date: 2021-08-25
Also published as: GB202002183D0

Abstract

A method of creating a map for an autonomous vehicle, comprising computing one or more preliminary vehicle paths (1, 2, 3) based on vehicle type; computing one or more of virtual yield locations along said preliminary vehicle paths; and creating a navigational map for one or more preliminary paths based on virtual yield locations for providing manoeuvring details in advance to the vehicle before traversing the path. A method and system for driving an autonomous vehicle further provides the steps of detecting conflicting traffic situations for the selected path in real time; and altering vehicle movement based on the detection of a real time conflicting traffic situation. The calculation of preliminary vehicle paths may comprise calculating a plurality of tractrix curves for a manoeuvre across each path depending on the size of the autonomous vehicle.

Description

F ORM 2 THE PATENTS ACT, 1970 (39 of 1970) The patent Rule, 2003

COMPLETE SPECIFICATION

(See section 10 and rule 13)

TITLE OF THE INVENTION METHOD FOR DRIVING

AUTONOMOUS VEHICLE AND SYSTEM THEREOF

Name and address of the applicant: a) Name: Daimler AG h) Nationality: Germany c) Address: 70372, Stuttgart, Germany.

[0001] PREAMBLE TO THE DESCRIPTION

[0002] The following specification particularly describes the invention and the manner in which it is to be performed:

[0003] TECHNICAL FIELD

[0004] The present disclosure generally relates to technology for driving autonomous vehicles. More particularly, the present disclosure describes a technique for computing preliminary vehicle paths and virtual yield locations across said paths well before the vehicle starts traversing.

[0005] BACKGROUND

[0006] Apart from navigation data, autonomous vehicles work on various steering algorithms that assist the autonomous vehicle in finding a drivable surface on a road. In particular, these algorithms are very helpful in steering the vehicle through maneuvers in large intersections. However, steering the autonomous vehicles, in real-time, through such maneuvers could be a computationally complex task as there could be large intersection surfaces where many path variations are possible. Additionally, another difficulty that may be encountered in autonomous vehicles could be finding a location where a vehicle must stop to yield conflicting traffic.

[0007] In the existing arts, autonomous vehicles use navigation data standard (NDS) to solve the above problems. Precisely, navigation data standard (NDS) disclose a technology in which center lines, on road, for steering the vehicle are pre-computed and stored in the vehicle's map for each lane. These canter lines are then used by the autonomous vehicles as a preliminary driving path which is then adapted according to the actual vehicle movement on the road and other traffic. However, in order to make the navigation data standard (NDS) functional, the MAP must have pre-stored stop lines, drawn on the road surface, that allow an autonomous vehicle to make a decision as to where to stop.

[0008] However, even with navigation data standard (NDS), steering the autonomous vehicles, in real-time, through maneuvers is a complex task as it uses pre-computed center lanes which purely depend on the road parameters, regardless of the type of vehicle. Further, such a system is not adequate for steering autonomous vehicles in absence of physical stop signs on road.

[0009] Thus, there exists a need in the art to provide a technique which overcomes the above-mentioned problems and helps the autonomous vehicle to navigate through the path even in absence of physical stop lines, taking into account conflicting traffic situation in real time.

[0010] SUMMARY

[0011] The present disclosure overcomes one or more shortcomings of the prior art and provides additional advantages discussed throughout the present disclosure. Additional features and advantages are realized through the techniques of the present disclosure. Other embodiments and aspects of the disclosure are described in detail herein and are considered a part of the claimed 10 disclosure.

[0012] The present disclosure relates to a method for driving autonomous vehicle. Said method discusses computing one or more preliminary vehicle paths based on vehicle type. Said method further discusses computing one or more of virtual yield locations along said preliminary vehicles paths. Further, the method of the present disclosure discusses creating a navigational map for one or more preliminary paths based on virtual yield locations for providing maneuvering details in advance to the vehicle before traversing the path. In order to make use of said data, the method further discloses detecting conflicting traffic situation for the selected path, in real time and altering vehicle movement based on detection of real time conflicting traffic situation.

[0013] In another aspect the present disclosure recites storing the plurality of calculated preliminary paths, the plurality of virtual yield locations and virtual yield lines, thus calculated at a central MAP database.

[0014] In yet another aspect the present disclosure recites calculating plurality of preliminary vehicle paths includes calculating plurality of tractrix curve for a maneuver across each path depending upon the size of the autonomous vehicle.

[0015] In still another aspect the present disclosure recites that the conflicting traffic situation may include: (i). a situation where the tactrix curve for a maneuver of the autonomous vehicle exceeds the limits of its driving lane; (ii) a situation where the tactrix curve of another vehicle starts overlapping the lane of the autonomous vehicle.

[0016] In yet another aspect of the present disclosure recites, altering may comprise bringing the autonomous vehicle to halt, on the predetermined yield location, unless the preliminary path is cleared, or the other vehicle has completed its maneuver.

[0917] In still another aspect the present disclosure recites the autonomous vehicle using at least one of a plurality of detecting means for calculating conflicting traffic situation.

[0918] In yet another aspect the present disclosure recites that the plurality of vehicle paths are calculated, in advance, for a given geographical region.

[0019] In another embodiment the present disclosure discusses a method of creating a navigational MAP for an autonomous vehicle, in advance. Said method comprises pre-computing one or more preliminary vehicle paths based on vehicle type. Said method further discusses pre-computing one or more of virtual yield locations along said preliminary vehicles paths. Once all the above data is compiled, said method discusses creating a navigational map for one or more preliminary paths based on virtual yield locations for providing maneuvering details in advance to the vehicle before traversing the path.

[0020] In another main embodiment the present disclosure discusses a system for driving autonomous vehicle. Said system may include a navigation device 114 installed in an autonomous vehicle, a central MAP database operatively connected to the navigation device 114 and a computing device operatively coupled to the central MAP database. Further, the computing device may include a processor that is configured to (i). compute one or more preliminary vehicle paths based on vehicle type, (ii). compute one or more of virtual yield locations along said preliminary vehicles paths, (iii). create a navigational map for one or more preliminary paths based on virtual yield locations for providing maneuvering details in advance to the navigation device I 14 of the vehicle before traversing the path. The system further discloses that to navigate the vehicle in real time, the navigation device 114 of the vehicle may include a means to detect conflicting traffic situation for the selected path, in real time and a means to alter the vehicle movement based on detection of real time conflicting traffic situation.

[0021] BRIEF DESCRIPTION OF DRAWINGS

[0022] The features, nature, and advantages of the present disclosure will become more apparent from the detailed description set forth below when taken conjunction with the drawings in which like reference characters identify correspondingly throughout. Some embodiments of system and/or methods in accordance with embodiments of the present subject matter are now described, by way of example only, and with reference to the accompanying figures, in which: [0023] Fig. 1 illustrates a system to drive an autonomous vehicle, in accordance with an

embodiment of the present disclosure;

[0024] Fig. 2 illustrates a method of driving an autonomous vehicle, in accordance with an

embodiment of the present disclosure;

[0025] Fig. 3A illustrates an exemplary scenario of a small autonomous vehicle travelling on a pre-determined path and making a maneuver in real time, in accordance with an embodiment of the present disclosure; [0026] Fig. 3B illustrates an exemplary scenario of large autonomous vehicle travelling on a pre-determined path and making use of pre-calculated yield location and yield line while making a maneuver, in accordance with an embodiment of the present disclosure; [0027] Fig. 4 illustrates an exemplary scenario of three different type of vehicles travelling on a selected path and making use of their pre-calculated maneuvers for making a U-turn, in accordance with an embodiment of the present disclosure; [0928] Fig. 5 illustrates an exemplary scenario where a vehicle traversing on a pre-determined path encounters conflicting traffic, in accordance with an embodiment of the present disclosure; [0029] Fig. 6 illustrates a method of creating a navigational MAP for an autonomous vehicle in advance, in accordance with an embodiment of the present disclosure: [0030] It should he appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative systems embodying the principles of the present subject matter. Similarly, it will be appreciated that any flow charts, flow diagrams and the like represent various processes which may be substantially represented in computer readable medium and executed by a computer or processor, whether or not such computer or processor is explicitly shown.

[0031] DETAILED DESCRIPTION

[0032] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0033] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternative falling within the scope of the disclosure.

[0034] The terms comprises", -comprising", "include(s)", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, system or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or system or method. In other words, one or more elements in a system or apparatus proceeded by "comprises.., a" does not, without more constraints, preclude the existence of other elements or additional elements in the system or apparatus.

[0035] In the following detailed description of the embodiments of the disclosure, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration specific embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0036] Fig.1 illustrates a block diagram of a system 100 for driving an autonomous vehicle 102, in accordance with the embodiments of the present disclosure.

[0037] In an embodiment, as shown in fig. I, the system 100 may comprise a central MAP database 104 and a computing device 106 placed at distant location from the autonomous vehicle I 02. As shown in fig. I, the central MAP database 104 may remain coupled to the autonomous vehicle 102 and the computing device 106 may remain operatively coupled to the central MAP database 104. In an exemplary embodiment, the central MAP database 104, the vehicle 102 and computing device 106 may remain coupled to each other through one of the various wireless means, that exist in art, to exchange data.

[0038] Further, as shown in fig. 1, the computing device 106 may include a processor 108, a transceiver 110 and a memory 112. In an aspect, the computing device 106 may include other essential elements for carrying out the invention, however the same are not explained here and shall not construed as limiting in any sense. The processor 108 of the computing device 106 is configured to fetch MAP data of a given geographical location from the central MAP database 104, via the of transceiver 110. Based on the fetched MAP data, the processor 108 of the computing device 106 is configured to compute one or more preliminary vehicle paths based on vehicle type. In an embodiment, computing one or more preliminary vehicle paths includes calculating plurality of tractrix curve for a maneuver across each path depending upon the type of the autonomous vehicle 102. In an aspect, the information regarding type of vehicle 102 is available with the central MAP database 104. In particular, the central MAP database 104 may be configured to store the information about the type of vehicle for a plurality of vehicles that either have an active connection with central MAP database or had a connection with the central MAP database 104 earlier.

[0039] The processor 108 of the computing device 106 is further configured to compute one or more virtual yield locations for the computed preliminary vehicle paths and determine virtual yield lines for each of the computed virtual yield locations. The computing device 106 uses said information to create a navigational map for one or more preliminary paths. In particular, the computing device 106, by the use of processor 108, creates a navigational map for one or more preliminary paths based on virtual yield locations and virtual yield lines. Those skilled in the art would appreciate that the virtual yield location may be defined as a location where a vehicle must come to halt to see the conflicting traffic in the adjacent lanes, whereas the virtual yield point may be the exact point from where the vehicle starts changing its lane. in an exemplary embodiment, the difference between virtual yield location and the virtual yield point so minute that the two may be referred as same sometimes. in an aspect, the computing device 106 is configured to create the navigational map for one or more preliminary paths before the vehicle 102 starts traversing the path.

[0040] Further, as shown in fig. 1, the computing device 106 is coupled to the central MAP database 104 bidirectionally. Thus, once the navigational map for one or more preliminary paths for the available geographical region are computed they are sent to central MAP database 104 for storage. The central MAP database 104 may be configured to share at least one of these navigational MAPs with the vehicle 102, when the connection between the vehicle 102 and the central MAP database 104 is established. In an exemplary embodiment, when a navigation device 114 of the vehicle 102 is activated for navigation, the navigation device 114 shares its current location and the destination location with the central MAP database 104 and the central MAP database 104 in return shares a plurality of pre-created navigation MAPs available for said route to the vehicle 102.

[0041] The system 100 further discloses having a detecting means (not shown) inside the vehicle 102 configured to detect conflicting traffic situation for the selected path, in real time. In particular, the detecting means may include various type of sensor capable of detecting the neighboring traffic situation. In addition, the vehicle 102 may further include an altering means to alter vehicle 102 movement based on detecting conflicting traffic situation. In particular, if the altering means detects a conflicting traffic situation, it brings the autonomous vehicle 102 to halt, on the predetermined yield location, unless the preliminary path is cleared for further travel.

[0042] Fig. 2 illustrates a flowchart of an exemplary method 200 for driving an autonomous vehicle 202, as shown in fig. 2, in accordance with the embodiment of the present

disclosure.

[0043] As shown in figure 2, the method 200 discloses at block 202, computing one or more preliminary vehicle paths based on vehicle type. In an aspect, in order to compute one or more preliminary vehicle paths, the computing device 106 is configured to receive form the central MAP database 104 a navigation map of a particular geographical region. Said navigation map may comprise a plurality of paths on which an autonomous vehicle may travel. For example, the navigation map may not only contain a detailed description of the road network, but also objects along the road (so-called road-side objects). These objects can be seen by the vehicle detecting sensors such as RADAR and LIDAR or any equivalent thereof.

[0044] In an embodiment, the preliminary route paths need to be calculated separately for different types of vehicles travelling across the same route. In particular, calculating preliminary route paths include calculating tractrix curve for a maneuver across each path which may vary from vehicle to vehicle.

[0045] At block 204, the method 200 discloses computing one or more virtual yield locations along said preliminary vehicles paths. These virtual yield locations assist the vehicle 102 in making a decision as to where to stop and wait for conflicting traffic situation, discussed in detail below. At block 206, the method 200, discloses determining virtual yield lines for each of the computed virtual yield locations. The virtual yield lines created in step 206 assist the vehicle 102 not only in making a decision as to where to stop while making a maneuver, but also assist the vehicle 102 in making a decision as to when to change its lane while making a maneuver.

[0046] The method 200, at step 208 discloses creating a navigational map for one or more preliminary paths based on the virtual yield locations and the virtual yield lines created in previous steps. In an aspect, the navigational map thus created may be used to provide maneuvering details in advance to the vehicle 102 before traversing the path. In particular, though it is not explicitly disclosed, once said one or more navigational maps are created, they are shared with the central MAP database I 04 for storage and to assist the autonomous vehicle 102 in future, i.e. whenever required. In an example, when the vehicle 102 is turned on and the navigation device Ii 4 of the vehicle 102 is connected with the central MAP database 104, the central MAP database 104 shares the one or more pre-calculated navigational maps with the vehicle 102. It is to be appreciated that the one or more pre-calculated navigational maps are shared with the vehicle 102 based on current location of the vehicle 102 and the destination location of the vehicle 102, entered in the navigation device 114 of the vehicle 102.

[0047] Though not disclosed explicitly in the method 200, once the one or more navigational maps are received by the vehicle 102, the vehicle 102 starts navigating according to the navigational data contained within the navigational maps. The method 200, simultaneously, discloses at step 210, detecting conflicting traffic situation when the vehicle 102 is driving in the real time. It is to be appreciated, that the vehicle 102 may use various detecting means such as sensor, L1DARs and like installed within the vehicle 102 to collect the conflicting traffic situation.

[0048] Further method 200, discloses at step 212 altering vehicle 102 movement based on detection of real time conflicting traffic situation. In an exemplary embodiment, the conflicting traffic situation may include one of (i) a situation where the tactrix curve for a maneuver of the autonomous vehicle 102 exceeds the limits of its driving lane and (ii) A situation where the tactrix curve of another vehicle (not shown) starts overlapping the lane of the autonomous vehicle 102. It is to be noted that in any of these situations, the detecting means of the vehicle 102 are configured to indicate to ECU of the vehicle to keep the autonomous vehicle 102 on halt, at the predetermined yield location, until the conflicting traffic situation cease to exist.

[0049] Fig. 3A illustrates an exemplary scenario where a small vehicle is travelling though a path using the navigation maps shared with the vehicle 102 by the central MAP database 104, in accordance with an embodiment of the present disclosure.

[0050] In particular, Fig. 3A illustrates a small autonomous vehicle (not shown) such as a car which uses the navigation map data shared by the central MAP database 104 to navigate through the selected preliminary path. In one exemplary embodiment, figure 3A discloses that for a small vehicle, like car, experiencing ideal situation i.e. when there is no conflicting traffic detected, as discussed in steps 210 and 212 of method disclosed in figure 2, the pre-calculated navigation map data such as virtual yield location (not shown) may be used to make smooth turn towards its right direction. In another exemplary embodiment, it is to be appreciated that for the vehicle discussed in figure 3A such as a small car whose tactrix curve is so small that it may not enter the adjacent lane and thus said vehicle can make smooth turn towards its right direction using the pre-calculated navigation map data such as virtual yield location.

[0051] Fig. 3B on the other hand illustrates an exemplary scenario where a large vehicle such as truck is travelling through a path using the navigation maps shared with the vehicle 102 by the central MAP database 104, in accordance with an embodiment of the present disclosure.

[0052] Fig. 3B illustrates a large autonomous vehicle such as a truck travelling through one of the preliminary path shared in the navigational map. In particular, it describes that since the truck is a large vehicle, the vehicle may stop at the yield location to take a decision as to when to make the maneuver. Precisely, fig. 3B shows the movement of the trucks front axle through the preliminary path (shown by straight line). Since the truck must use the opposite/adjacent lane for this turn, there is a virtual yield location (implemented as a yield line which must not be crossed) before entering the opposite lane. Thus, figure 3B show that the trailer will only make the maneuver, when the opposite lane across the virtual yield location is free to move.

[0053] Fig. 4 illustrates an exemplary scenario where navigational maps with different tractrix curve for a maneuver across same path may vary according to the vehicle type, in accordance with an embodiment of the present disclosure.

[0054] Fig. 4 illustrates three U-turn maneuvers 1-3 for different type of vehicles along the same path. For example, maneuver I has a very small radius which can only be driven with a small car (e.g. smart @). Maneuver 2 may be done with standard passenger cars (medium size vehicles), and maneuver 3 is feasible for pick-up trucks (bigger size vehicles). In an embodiment, in order to calculate the same, it is necessary that all these vehicle classes may be stored with the maneuvers in the map. Alternatively, only the possible maneuvers are delivered in the map database for each vehicle type. In an exemplary embodiment, it may be appreciated that the tactrix curve of a small vehicle i.e. driving in lane I may be so small that it may not have to enter into the adjacent lane while making maneuver and thus said vehicle may not have to stop at the virtual yield location and can make the maneuver based on pre-calculated preliminary path. On the contrary, the tactrix curve of the medium size and large vehicles i.e. driving in lanes 1 and 2 may be large enough such that they may have to enter the adjacent lane while making maneuvers. Thus, in said cases these vehicles may have to stop at the virtual yield location till the conflicting traffic (i.e. the traffic driving in adjacent lanes) situation is cleared and can make the maneuver only after the conflicting traffic is cleared.

[0055] Fig. 5, illustrates an exemplary scenario, where an autonomous vehicle "A" detects a conflicting traffic while making a maneuver across the preliminary path shared with it in form of a navigation data by the central MAP database 104. In particular, it discloses that when there is a conflicting traffic situation such as when the tactrix curve for a maneuver of the autonomous vehicle 102 exceeds the limits of its driving lane or when the tactrix curve of another vehicle "B" starts overlapping the lane of the autonomous vehicle 102, the vehicle 102 must come to halt at the yield line and shall make a maneuver only when the said path is cleared. Vehicle "B" might, for example, be a large bus or truck moving in the opposite direction of vehicle A, covering both lanes while making the narrow turn. It is to be appreciated that though not explicitly disclosed, but the present disclosure covers all the scenarios of making a decision when the conflicting traffic situation is encountered, irrespective of the fact whether the vehicle has to make a maneuver towards in left, right or needs to travel in the forward direction.

[0056] Fig. 6 illustrates a flowchart of an exemplary method 600 of creating a navigational MAP for an autonomous vehicle in advance and to be used in future by the central MAP database to navigate the vehicle 102, in accordance with an embodiment of the present disclosure.

[0057] At block 602 discloses pre-computing one or more preliminary vehicle paths based on vehicle type. In an aspect, the step carried out in block 602 is similar to steps 202 carried out by the method 200. The method 600 further discloses at block 604, pre-computing one or more of virtual yield locations along said preliminary vehicles paths. Once the virtual yield locations along said preliminary vehicles paths are calculated, the method 600 moves to step 606 which discloses determining virtual yield lines for each of the computed virtual yield locations.

[0058] At next step 608, the method discloses creating a navigational map for one or more preliminary paths based on virtual yield locations and virtual yield lines for providing maneuvering details in advance to the vehicle before traversing the path. In an aspect, the method steps 602- 608 of method 600 are calculated well in advance i.e. even before the vehicle 102 starts traversing said route. In an embodiment, to calculate method steps 602-608 in advance, the processor 108 of the computing device 106 fetches MAP data of a given geographical location from the central MAP database 104, via the of the transceiver 110. Based on the fetched MAP data, the processor 108 of the computing device 106 computes one or more preliminary vehicle paths based on vehicle type. In an embodiment, computing one or more preliminary vehicle paths includes calculating plurality of tractrix curve for a maneuver across each path depending upon the type of the autonomous vehicle 102. In an aspect, said information may be stored inside the vehicle or may be stored external to the vehicle in the central MAP database 104.

[0059] The illustrated steps are set out to explain the exemplary embodiments shown, and it should he anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed.

Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope and spirit of the disclosed embodiments. Also, the words "comprising," "having," "containing," and "including," and other similar forms are intended to be equivalent in meaning and be open ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items, or meant to be limited to only the listed item or items. It must also be noted that as used herein and in the appended claims, the singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise.

[0060] Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term "computer-readable medium" should be understood to include tangible items and exclude carrier waves and transient signals, i.e., are non-transitory. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, nonvolatile memory, hard drives, CD ROMs, DVDs, flash drives, disks, and any other known physical storage media.

[0061] Suitable processors include, by way of example, a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) circuits, any other type of integrated circuit (IC), and/or a state machine.

[0062] Advantages of the embodiment of the present disclosure are illustrated herein The present disclosure provides creating a navigational map in advance, i.e. prior to vehicle starts traversing a route.

The present disclosure prevents the autonomous vehicles from attempting difficult or dangerous maneuvers.

The present disclosure reduces the chances of autonomous vehicles getting stuck.

[0063] REFERENCE NUMERALS: (100): system (102): autonomous vehicle (104): central MAP database (106): computing device (108): processor of computing device (112): memory of the computing device (114): navigation device of the autonomous vehicle (200): method (202-212): method steps (600): method (602-608): method steps

Claims

[0064] We claim: I. A method for driving autonomous vehicle, comprising: computing one or more preliminary vehicle paths based on vehicle type; computing one or more of virtual yield locations along said preliminary vehicles paths creating a navigational map for one or more preliminary paths based on virtual yield locations for providing maneuvering details in advance to the vehicle before traversing the path; detecting conflicting traffic situation for the selected path, in real time; and altering vehicle movement based on detection of real time conflicting traffic situation.
2. The method as claimed in claim I, wherein the method further comprises storing the plurality of calculated preliminary paths, the plurality of virtual yield locations and virtual yield lines at a central MAP database.
3. The method as claimed in claim I, wherein calculating plurality of preliminary vehicle paths includes calculating plurality of tractrix curve for a maneuver across each path depending upon the size of the autonomous vehicle.
4. The method as claimed in claim I, wherein the conflicting traffic situation includes one of: (i). a situation where the tactrix curve for a maneuver of the autonomous vehicle exceeds the limits of its driving lane; (ii). A situation where the tactri x curve of another vehicle starts overlapping the lane of the autonomous vehicle.
5. The method as claimed in claim 1 and 4, wherein the step of altering comprises bringing the autonomous vehicle to halt, on the predetermined yield location, unless the preliminary path is cleared, or the other vehicle has completed its maneuver.
6. The method as claimed in claim I, wherein the autonomous vehicle uses at least one of a plurality of detecting means for calculating conflicting traffic situation.
7. The method as claimed in claim 1, wherein the plurality of vehicle paths are calculated, in advance, for a given geographical region.
8. A method of creating a navigational MAP for an autonomous vehicle in advance, comprising: pre-computing one or more preliminary vehicle paths based on vehicle type; pre-computing one or more of virtual yield locations along said preliminary vehicles paths; creating a navigational map for one or more preliminary paths based on virtual yield locations for providing maneuvering details in advance to the vehicle before traversing the path.
9. A system for driving autonomous vehicle, comprising: a navigation device installed in an autonomous vehicle; a central MAP database operatively connected to the navigation device; a computing device operatively coupled to the central MAP database, wherein the computing device includes a processor being configured to: compute one or more preliminary vehicle paths based on vehicle type; compute one or more of virtual yield locations along said preliminary vehicles paths; create a navigational map for one or more preliminary paths based on virtual yield locations for providing maneuvering details in advance to the navigation device of the vehicle before traversing the path; wherein, the autonomous vehicle comprising: a means to detect conflicting traffic situation for the selected path, in real time; and a means to alter the vehicle movement based on detection of real time conflicting traffic situation.