US 12,411,014 B2
Specific traversal plan from general plan and actual traversal of lattice
Adrian Ferrier, Avondale Estates, GA (US); Kapil Tahiliani, Atlanta, GA (US); Juan Carlos Santamaria, Alpharetta, GA (US); Darren Howie, Rio Verde, AZ (US); and Kevin Pattison, Calgary (CA)
Assigned to Trimble Inc., Westminster, CO (US)
Filed by Trimble Inc., Westminster, CO (US)
Filed on Nov. 30, 2022, as Appl. No. 18/071,997.
Prior Publication US 2024/0172576 A1, May 30, 2024
Int. Cl. G01C 21/34 (2006.01); G05D 1/229 (2024.01)
CPC G01C 21/3407 (2013.01) [G05D 1/2297 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A method for generating and providing an optimized specific plan for traversal of a geographical region by an autonomous vehicle, the method comprising:
receiving, by a computing device, a general plan for traversing the geographical region, the general plan comprising:
a lattice representing the geographical region; and
a planned sequence of operator traversal data for traversing the lattice of the geographical region;
determining, by the computing device, actual operator traversal data generated by a first entity in traversing the geographical region, the actual operator traversal data comprising an operator sequence that includes a plurality of elements corresponding to spatial and temporal data of the actual operator traversal data;
determining, by the computing device, a tolerance range that defines an allowable deviation of the actual operator traversal data from the general plan;
determining, by the computing device, a first subset of the plurality of elements that is within the determined tolerance range;
determining, by the computing device, a second subset of the plurality of elements that is not within the determined tolerance range;
generating, by the computing device, a specific plan for traversing the geographical region based on the general plan, the specific plan comprising the first subset of the plurality of elements included in the actual operator traversal data and defining a starting location and an ending location for traversing the geographical region by the autonomous vehicle;
comparing, by the computing device, the actual operator traversal data to separate actual operator traversal data generated by a separate entity in traversing the geographical region by:
determining, by the computing device, a first amount of space and time that the actual operator traversal data conformed to the specific plan;
determining, by the computing device, a second amount of space and time that the separate actual operator traversal data conformed to the specific plan; and
comparing, by the computing device, the first amount of space and time to the second amount of space and time;
optimizing the specific plan based on the comparison of the first amount of space and time to the second amount of space and time;
providing, by the computing device, the optimized specific plan as input into the autonomous vehicle; and
traversing the geographic region by the autonomous vehicle according to the optimized specific plan.