GB2591232A

GB2591232A - Method and system for determining a route for an autonomous vehicle

Info

Publication number: GB2591232A
Application number: GB2000821.5A
Authority: GB
Inventors: Aleksic Mario; Bracht Alexander; Maisenbacher Stefan; Shetty Chethan
Original assignee: Daimler AG
Current assignee: Mercedes Benz Group AG
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2021-07-28
Also published as: GB202000821D0

Abstract

Determining 500 a route for an autonomous vehicle comprises receiving a navigation map 501, simulating driving of the autonomous vehicle along a plurality of paths present on the navigation map, wherein the plurality of paths comprises at least one of: short routes, short distance paths, path between two intersection points, T junction, turns, and roundabouts. It is determined whether maneuver of the autonomous vehicle on the plurality of paths is safe 505, wherein the safe maneuver is determined based on at least one of vehicle sensors, vehicle size, maximum vehicle acceleration, friction potential of road, road slope, weather, lane blockage, road obstruction, and sharp turns present on the paths. The plurality of paths is categorized 507 on the navigation map as safe and unsafe based on the determined safe maneuvers. The paths categorized as safe are deployed 509 in the autonomous vehicle. A route to a destination may be determined, and if a route to the destination is not found, modifying the location of the destination.

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 AND SYSTEM FOR DETERMINING A ROUTE FOR AN AUTONOMOUS VEHICLE

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 the field of automobiles, and more particularly, the present disclosure describes a technique for determining a route for an autonomous vehicle.

[0005] BACKGROUND

[0006] Over the past few years, the automotive industry has experienced a massive change with the evolution of autonomous vehicles. Fully autonomous vehicles will redefine the mobility of vehicles on road in near future. Autonomous driving functions such as smart cruise control, accident avoidance, and crash monitoring will increase consumer trust in driverless technology and accelerate the proliferation of the technology for the autonomous vehicles.

[0007] Autonomous vehicles use digital maps that 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 vehicle sensors such as RADAR and LIDAR which are located on the vehicle.

[0008] However, due to limitations of vehicle sensors, some maneuvers might not be feasible for travelling and might impose a significant hazard for autonomous vehicles. Thus, it becomes important to avoid such maneuvers, while determining a route for the autonomous vehicle so that the autonomous vehicle doesn't get stuck while detecting such situations along the way.

[0009] Thus, there exists a need in the art to provide a technique which overcomes the above-mentioned problems to initially check whether a maneuver is safe on all of the roads on the digital map before actually travelling on them and avoid roads that are unsafe or impossible to maneuver for the autonomous vehicle.

[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 5 disclosure.

[0012] The present disclosure relates to a method and a system to determine a route for an autonomous vehicle. Present disclosure discusses that a navigation map is received by the system and driving of the autonomous vehicle along a plurality of paths present on the navigation map is simulated. The plurality of paths comprises at least one of: short routes, short distance paths, path between two intersection points, T junction, turns, and roundabouts. The system then determines whether maneuver of the autonomous vehicle on the plurality of paths is safe. The safe maneuver is determined based on at least one of vehicle sensors, vehicle sensor response time, vehicle size, maximum vehicle acceleration, friction potential of road, road slope, weather, lane blockage, road obstruction, and sharp turns present on the paths. The system then categorizes the plurality of paths on the navigation map as safe and unsafe based on the determined safe maneuvers. The paths categorized as safe are deployed in the autonomous vehicle. The route of the autonomous vehicle is determined based on the paths categorized as safe and the paths categorized as unsafe are omitted or avoided. In case route to the particular destination and back cannot he determined, the system may modify the particular destination to a nearest reachable destination. This facilitates the autonomous vehicles to not even attempt difficult or dangerous maneuvers and reduces the chance of the autonomous vehicle getting stuck.

[0013] BRIEF DESCRIPTION OF DRAWINGS

[0014] 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: [0015] Fig. I illustrates an exemplary scenario of a large vehicle stuck in a undrivable or dangerous turn, in accordance with an embodiment of the present disclosure: [0016] Fig. 2 illustrates an exemplary scenario where a building blocks the view to the approaching traffic, in accordance with an embodiment of the present disclosure; [0017] Fig. 3 illustrates an exemplary scenario of lane blockage, in accordance with an

embodiment of the present disclosure;

[0018] Fig. 4 illustrates an exemplary scenario of a narrow road, in accordance with an

embodiment of the present disclosure;

[0019] Fig. 5 illustrates a flowchart of an exemplary method of determining a route for an autonomous vehicle, in accordance with an embodiment of the present disclosure; [0020] Fig. 6 illustrates a flowchart of an exemplary method of determining a route for an autonomous vehicle, in accordance with an embodiment of the present disclosure; [0021] Fig. 7 illustrates a block diagram of a system to determine route for an autonomous vehicle, in accordance with an embodiment of the present disclosure; [0022] It should be 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.

[0023] DETAILED DESCRIPTION

[0024] 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 he construed as preferred or advantageous over other embodiments.

[0025] 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.

[0926] 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.

[0027] Embodiments of the present disclosure relate to a method and a system to determine a route for an autonomous vehicle. Present disclosure discusses that a navigation map is received by the system and driving of the autonomous vehicle along a plurality of paths present on the navigation map is simulated. The system then determines whether maneuver of the autonomous vehicle on the plurality of paths is safe. The safe maneuver is determined based on at least one of vehicle sensors, vehicle sensor response time, vehicle size, maximum vehicle acceleration, lane blockage, road obstruction, and sharp turns present on the paths. The system then categorizes the plurality of paths on the navigation map as safe and unsafe. The paths categorized as unsafe are omitted or avoided while determining a route to a particular destination and back for the autonomous vehicle. If the route to the particular destination is not found, the system may modify the particular destination to a nearest reachable destination. This facilitates the autonomous vehicles to not even attempt difficult or dangerous maneuvers and reduces the chance of the autonomous vehicle getting stuck.

[0928] 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.

[0029] Fig. 1 illustrates an exemplary scenario of a large vehicle stuck in a undrivable or dangerous turn, in accordance with the embodiment of the present disclosure.

[0030] Fig. I illustrates three vehicles 101, 103, and 105present at T-junction. An autonomous truck 105 having a trailer is moving towards the 1-junction. The truck 105 cannot take a left turn without entering into the lane of the vehicle 101. Thus, the left turn for truck 105 can be dangerous for the vehicle 101 and can become an impossible maneuver for the truck 105 if it is either not capable of making a turn involving the opposite lane or the view into the opposite lane is not sufficient to detect oncoming vehicles in time. This scenario can be avoided if the truck 105 does not opt for the current path to travel towards its destination.

[0031] Fig. 2 illustrates an exemplary scenario where a building blocks the view to the approaching traffic, in accordance with an embodiment of the present disclosure.

[0032] Fig. 2 illustrates three autonomous vehicles 201, 203, and 205 moving in a T-junction. The vehicle 205 is approaching the T-junction where cross traffic has priority. On the left side of the road, a building 207 blocks the view to the approaching traffic for vehicle 205.

Thus, the sensors of the vehicle 205 cannot perceive any vehicles on the crossroad, and it starts the right-turn maneuver. At the same moment, another vehicle 201 appears from behind the building 207 at the maximum expected speed for this road. The vehicle 205 continues its turn maneuver while the other vehicle is approaching, which may lead to collision between the vehicle 205 and vehicle 201. This scenario can be avoided if the vehicle 205 does not opt for the current path to travel towards its destination.

[0033] Fig. 3 illustrates an exemplary scenario of lane blockage, in accordance with an

embodiment of the present disclosure.

[0034] Fig. 3 illustrates two autonomous vehicles 301 and 303 moving in opposite direction of the road. The vehicle 303 is facing a lane blockage while travelling towards its destination. The vehicle 303 cannot change its lane because of the vehicle 301 moving in the adjacent lane. Thus, the vehicle 303 gets stuck at the lane blockage. This scenario can be avoided if the vehicle 303 does not opt for the current path to travel towards its destination.

[0035] Fig. 4 illustrates an exemplary scenario of a narrow road, in accordance with an

embodiment of the present disclosure.

[0036] Fig. 4 illustrates two autonomous vehicles 401 and 403 approaching a narrow road 405. If the vehicles 401 and 403 opt to travel in the narrow road 405, they might get stuck due to another vehicle coming from an opposite direction. This scenario can he avoided if the vehicles 401 and 403 do not opt for the current path to travel towards its destination using the narrow road 405.

[0037] Fig. 1, Fig. 2, Fig. 3, and Fig. 4 illustrate some of the exemplary scenarios, where the autonomous vehicles attempt a dangerous or an impossible maneuver and get stuck. Thus, manual intervention becomes essential in such scenarios. Thus, there exist a need to avoid such dangerous or impossible attempts.

[0038] Fig. 5 illustrates a flowchart of an exemplary method 500 of determining a route for an autonomous vehicle, in accordance with an embodiment of the present disclosure.

[0039] At block 501, a navigation map of a particular area may be received for simulation.

The navigation map may comprise a plurality of paths on which an autonomous vehicle may travel.

The plurality of paths comprises at least one of: short routes, short distance paths, path between two intersection points, T junction, turns, and roundabouts. The navigation map 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 vehicle sensors such as RADAR and LIDAR which are located on the vehicle.

[0040] At block 503, driving of the autonomous vehicle may be simulated on the plurality of paths present on the received navigation map. The simulation may be based on the map data collected while the vehicle is manually driven around. At block 505, whether a maneuver of the autonomous vehicle on the plurality of paths is safe or unsafe is determined. The safe maneuver may be determined based on at least one input received from at least one of the plurality of vehicle sensors, vehicle sensors response time, vehicle size, maximum vehicle acceleration, friction potential of road, road slope, weather, lane blockage, road obstruction, and sharp turns present on the paths. The vehicle size may comprise a length of the vehicle, a width of the vehicle, and a height of the vehicle. In an embodiment of the present disclosure, at least one of the vehicle dimensions is considered for determining whether a maneuver is safe or unsafe.

[0941] The road obstructions may be due to construction work on a building near to a road.

The lane blockage may be due to maintenance work on the road. The sharp turns may be categorized by the degree of turn. Also, such sharp turns may comprise of turns assisted by the spherical mirrors, which cannot be perceived by the autonomous vehicle. The safe maneuver may also be determined based on the braking time of the vehicle. The braking time may be the time taken by the vehicle to reduce the speed from a maximum speed to a minimum speed.

1-0042-1 At block 507, the plurality of paths on the navigation map are categorized as safe and unsafe based on the determination at block 505. At block 509, the paths categorized as safe are deployed in the autonomous vehicle. A route of the autonomous vehicle is determined based on the paths categorized as safe. The paths categorized as unsafe are transmitted to road authorities for remodeling. The road authorities may use this analysis to find roads or maneuvers that shall be closed for certain vehicle types as they are not drivable. Locations categorized as unsafe can be improved by remodeling the road or adding spherical mirrors. As vehicle sensors might not be able to use such mirrors, those maneuvers might, however, have to stay blocked for autonomous vehicles. An updated map comprising the remodeled paths may be received and the entire method may be repeated to check whether the remodeled path is safe or unsafe for driving of the autonomous vehicle.

[0943] In an exemplary embodiment of the present disclosure as shown in Fig. 2, a maneuver of the vehicle 205 approaching a 1-junction is simulated. On the left side of the road, a building 207 blocks the view to the approaching traffic. As the vehicle 205 approaches the turn on the cross road, sensors of the vehicle 205 cannot perceive any vehicle on the cross road due to the building, and it starts the turn maneuver. At the same moment, another vehicle 201 appears from behind the building at the maximum expected speed for this road. The vehicle 205 continues its right-turn maneuver while the other vehicle is approaching. If the vehicle 205 can finish the turn before the other vehicle 201 reaches the intersection without reducing its speed or reducing it by an acceptable amount, then the maneuver is categorized as safe. Otherwise, the maneuver is categorized as unsafe. Being able to finish the turn in time depends on several parameters, e.g.: * The vehicle acceleration * The friction potential of the road (depending on the road surface, e.g. paved, unpaved, cobblestone) * Road slope (e.g. less accelaration on an ascent, more on a decent) * Weather (rain, snow, ice leading to less friction potential and therefore acceleration and maximum safe speed) The simulation for categorizing the maneuver may further comprise any of the parameters discussed above.

[0044] In another exemplary embodiment of the present disclosure, routes to a plurality of destination locations and back to the source locations on the navigation map are determined using the deployed paths. The paths categorized as unsafe are omitted while determining routes to the plurality of destination locations. The determined routes are then deployed in a database of the autonomous vehicle. The autonomous vehicle may use these routes for future travel towards the plurality of destination locations. Thus, the step of determination of routes is not repeated for the same destination locations again and again.

[0045] In yet another exemplary embodiment of the present disclosure, a destination location is received. The destination location is matched with the database of the autonomous vehicle to determine whether a route is already present in the database. If only one route is found, the autonomous vehicle moves towards the destination location using this route. If more than one routes are found, then a user of the autonomous is given an option of selecting a route out of the available routes to be used by the autonomous vehicle. In another embodiment, a route is selected based on a user preference. The user preference is defined based on a route previously selected by the user for travelling towards the same destination location. In case, no route is selected by the user, the autonomous vehicle decides to move on a shortest route or a route with least travel time.

[0046] Fig. 6 illustrates a flowchart of an exemplary method (600) of determining a route for an autonomous vehicle, in accordance with an embodiment of the present disclosure.

[0047] In an embodiment of the present disclosure, the method 600 may be performed after the method 500 is performed. In another embodiment of the present disclosure, if the maneuvers are already being marked as safe and unsafe, the method 600 is performed independent of the method 500.

[0948] At block 601, a destination location is received from a user of the autonomous vehicle. The destination location may be entered by the user via a user interface or may be selected by the user from a plurality of destination locations presented to the user via the user interface. At block 603, at least one route from a source location (e.g. the current location of the user) to the destination location and from the destination location to the source location are determined using the paths deployed in the autonomous vehicle. The paths categorized as unsafe are omitted while determining the at least one route.

[0049] At block 605, if at least one route from the source location to the destination location and back is found, the autonomous vehicle at block 607 decides to move or travel along one of the at least one determined route. In case, the at least one route comprises more than one route, then a user of the autonomous is given a choice of selecting a route of the plurality of routes to be used by the autonomous vehicle. In another embodiment, a route of the plurality of routes is selected based on a user preference. The user preference is defined based on a route previously selected by the user for travelling towards the same destination location. In case, no route is selected by the user, the autonomous vehicle decides to move on a shortest route or a route with least travel time.

[0950] At block 609, if no routes are found, the destination location is modified to a location nearest to the destination location. The location nearest to the destination location is reachable using the paths categorized as safe. The modified destination location is then notified to the user of the autonomous vehicle for approval.

[11051] At block 611, an approval or denial command is received from the user of the autonomous vehicle. Based on an approval command received from the user, the autonomous vehicle moves towards the modified destination location. If a denial command is received from the user, the process of determining the route is aborted. The user of the autonomous vehicle may then try with a different destination location and the entire method 600 may be repeated for the different destination location received from the user.

[0052] Fig. 7 illustrates a block diagram of a system 700 to determine a route for an autonomous vehicle, in accordance with an embodiment of the present disclosure.

[0053] In an embodiment of the present disclosure, the system 700 may comprise a memory 701, a transceiver 703, a processor 705, a user interface 707, and a display 709 in communication with each other. The transceiver 703 may he configured to receive a navigation map of a particular area for simulation. The navigation map may comprise a plurality of paths on which an autonomous vehicle may travel. The navigation map may not only contain a detailed description of the road network but may also include objects along the road (so-called road-side objects). These objects can be seen by vehicle sensors such as RADAR and LIDAR which are located on the vehicle.

[0054] The processor 705 may be configured to simulate driving of the autonomous vehicle on the plurality of paths present on the received navigation map. The plurality of paths comprises at least one of: short routes, short distance paths, path between two intersection points, T junction, turns, and roundabouts. The simulation may be based on the map data collected while the vehicle is manually driven around. The processor 705 may then determine whether a maneuver of the autonomous vehicle on the plurality of paths is safe or unsafe. The safe maneuver is determined based on at least one input received from at least one of the plurality of vehicle sensors, vehicle sensor response time, vehicle size, maximum vehicle acceleration, friction potential of road, road slope, weather, lane blockage, road obstruction, and sharp turns present on the paths.

The vehicle size may comprise a length of the vehicle, a width of the vehicle, and a height of the vehicle. In an embodiment of the present disclosure, at least one of the vehicle dimensions may be considered for determining whether a maneuver is safe or unsafe.

[0055] The road obstructions may be due to construction work on a building near to a road.

The lane blockage may he due to maintenance work on the road. The sharp turns may be categorized by a degree of turn. Also, such sharp turns may comprise of turns assisted by the spherical mirrors, which cannot be perceived by the autonomous vehicle. The safe maneuver may also be determined based on the braking time of the vehicle. The braking time may be the time taken by the vehicle to reduce the speed from a maximum speed to a minimum speed.

[0056] The processor 705 may then categorize the plurality of paths on the navigation map as safe and unsafe based on the determined safe maneuver and deploy the paths categorized as safe in the autonomous vehicle. A route of the autonomous vehicle is determined based on the paths categorized as safe. The paths categorized as safe may be stored for future reference. The paths categorized as unsafe may be transmitted by the processor 705, via the transceiver 703, to road authorities for remodeling. The road authorities may use this analysis to find roads or maneuvers that shall be closed for certain vehicle types as they are not drivable. Locations categorized as unsafe may be improved by remodeling the road or adding spherical mirrors. As vehicle sensors may not be able to use such mirrors, those maneuvers might, however, have to stay blocked for autonomous vehicles. An updated map comprising the remodeled paths may be received by the processor 705 and the system 700 may repeat the entire procedure to check whether the remodeled path is safe or unsafe for driving for the autonomous vehicle.

1-0057-1 In an exemplary embodiment of the present disclosure, the processor 705 may determine routes to a plurality of destination locations and back to the source locations on the navigation map using the deployed paths. The paths categorized as unsafe are omitted in determination of the route to the plurality of destination locations. The determined routes are then deployed in a database of the autonomous vehicle. The autonomous vehicle may use these routes for future travel towards the plurality of destination locations. Thus, the processor 705 is not required to repeat the step of determination of routes for the same destination locations again and again.

[0058] In another exemplary embodiment of the present disclosure, a destination location is received is received from the user via a user interface 707. The processor 705 is configured to match the destination location with the database of the autonomous vehicle and determine whether a route is already present in the database. If only one route is found, the processor 705 is configured to move the autonomous vehicle towards the destination location using this route. If more than one routes are found, then a user of the autonomous is given a choice of selecting a route out of the available routes to be used by the autonomous vehicle. In another embodiment, a route is selected based on a user preference. The user preference is defined based on a route previously selected by the user for travelling towards the same destination location. In case, no route is selected by the user, the autonomous vehicle decides to move on a shortest route or a route with least travel time.

[0059] In yet another embodiment of the present disclosure, the processor 705 may receive, via the user interface 707, a destination location from a user of the autonomous vehicle. The destination location may be entered by the user via the user interface or may be selected by the user from a plurality of destination locations presented to the user via the user interface. The processor 707 may determine at least one route from a source location to the destination location and from the destination location to the source location using the paths categorized as safe. The paths categorized as unsafe are omitted in the determination of the at least one route.

[0060] If at least one route from the source location to the destination location and back is found, the processor 705 may move the autonomous vehicle along one of the at least one determined route. In case, the at least one route comprise more than one route, then a user of the autonomous is given a choice of selecting a route of the plurality of routes to be used by the autonomous vehicle. In another embodiment, a route of the plurality of routes is selected based on a user preference. The user preference is defined based on a route previously selected by the user for travelling towards the same destination. In case, no route is selected by the user, the processor 705 is configured to move the autonomous vehicle on a shortest route or a route with least travel time.

[0061] If no routes are found, the processor 705 may modify the destination location to a location nearest to the destination location. The location nearest to the destination location is reachable using the paths categorized as safe. The modified destination location is then displayed to the user, via the display 709, for approval.

[0062] The processor 705 is then configured to receive an approval or denial command from the user of the autonomous vehicle. Based on an approval command received from the user, the processor 705 is configured to move the autonomous vehicle towards the modified destination location. If a denial command is received from the user of the autonomous vehicle, the processor 705 is configured to abort the process of determining the route being performed by the system 700.

The user of the autonomous vehicle may then try with a different destination location and the entire process as mentioned above may be repeated for the different destination location received from the user.

[0063] The user interface discussed above may comprise at least one of a key input means, such as a keyboard or keypad, a touch input means, such as a touch sensor or touchpad, a sound source input means, a camera, or various sensors, and the user interface may comprise a gesture input means. Further, the user interface may comprise all types of input means that are being currently developed or are to be developed in the future. The user interface may receive information from the user through the touch panel of the display and transfer the inputted information to the processor.

[0064] The user device as discussed above may comprise personal digital assistance (FDA) or other wireless handheld device, cell phones, etc. The memory may maintain software maintained and/or organized in loadable code segments, modules, applications, programs, etc., which may be referred to herein as software modules. Each of the software modules may comprise instructions and data that, when installed or loaded on the processor and executed by the processor, contribute to a run-time image that controls the operation of the processors. When executed, certain instructions may cause the processor to perform functions in accordance with certain methods, algorithms and processes described herein.

[0065] The illustrated steps are set out to explain the exemplary embodiments shown, and it should be 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 he 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.

[0066] 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.

[0067] 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.

[0068] Advantages of the embodiment of the present disclosure are illustrated herein The present disclosure provides a method to determine a route for the autonomous vehicle.

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

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

[0069] REFERENCE NUMERALS.

[0070] (101, 103, 105, 201, 203, 205, 301, 303, 401, 403): autonomous vehicle [0071] (207): building [0072] (405): narrow road [0073] (500): method [0074] (600): method [0075] (700): system [0076] (701): memory [0977] (703): transceiver [0078] (705): processor [0079] (707): user interface [0080] (709): display

Claims

[0081] We claim: 1. A method for determining a route for an autonomous vehicle, the method comprising: receiving a navigation map; simulating driving of the autonomous vehicle along a plurality of paths present on the navigation map, wherein the plurality of paths comprises at least one of: short routes, short distance paths, path between two intersection points, T junction, turns, and roundabouts; determining whether maneuver of the autonomous vehicle on the plurality of paths is safe, wherein the safe maneuver is determined based on at least one of vehicle sensors, vehicle size, maximum vehicle acceleration, friction potential of road, road slope, weather, lane blockage, road obstruction, and sharp turns present on the paths; and categorizing the plurality of paths on the navigation map as safe and unsafe based on the determined safe maneuvers; and deploying the paths categorized as safe in the autonomous vehicle, wherein at least one route of the autonomous vehicle is determined based on the paths categorized as safe.
2. The method as claimed in claim 1, further comprising: receiving a destination location; determining at least one route to the destination location and back using the deployed paths; determining whether the at least one route to the destination and back is found; in response to the at least one route to the destination and back being found, moving the autonomous vehicle along one of the at least one determined route; in response to the route to the destination and back being not found: modifying the destination location to a location nearest to the destination location, notifying the modified destination location to a user; receiving a command from the user, wherein the command comprises an approval or a denial command; and in response to receipt of the approval command, moving the autonomous vehicle towards the modified destination location.
3. The method as claimed in claim 1, further comprising: transmitting the paths categorized as unsafe for remodeling.
4. The method as claimed in claim I, further comprising: storing the paths categorized as safe for future reference.
5. A system to determine route for an autonomous vehicle, the system comprising: a memory; a transceiver in communication with the memory and configured to: receive a navigation map; a processor in communication with the memory and the transceiver, and configured to: simulate driving of the autonomous vehicle along a plurality of paths present on the navigation map, wherein the plurality of paths comprises at least one of: short routes, short distance paths, path between two intersection points, T junction, turns, and roundabouts; determine whether maneuver of the autonomous vehicle on the plurality of paths is safe, wherein the safe maneuver is determined based on at least one of vehicle sensors, vehicle size, maximum vehicle acceleration, friction potential of road, road slope, weather, lane blockage, road obstruction, and sharp turns present on the paths; categorize the plurality of paths on the navigation map as safe and unsafe based on the determined safe maneuvers; and deploy the paths categorized as safe in the autonomous vehicle, wherein at least one route of the autonomous vehicle is determined based on the paths categorized as safe.
6. The system as claimed in claim 5, further comprising: a user interface in communication with the processor and configured to receive input from a user, wherein: the user interface is configured to receive a destination location; and the processor is configured to: determine at least one route to the destination location and back using the deployed paths determine whether the at least one route to the destination and back is found; in response to the route to the destination and back being found, move the autonomous vehicle along one of the at least one determined route; and in response to the route to the destination and back being not found: modify the destination location to a location nearest to the destination location, notify the modified destination location to the user, receive, via a user interface, a command from the user the command comprises an approval or a denial command; and in response to receipt of the approval command, move the autonomous vehicle towards the modified destination location.
7. The system as claimed in claim 5, wherein the processor is configured to: transmit the paths categorized as unsafe for remodeling.
8. The system as claimed in claim 5, wherein the processor is configured to: store the paths categorized as safe in the memory.