US 12,174,634 B2
Optimal path library for local path planning of an autonomous vehicle
Junbo Jing, San Diego, CA (US); Arda Kurt, San Diego, CA (US); Tianqu Shao, San Diego, CA (US); Chasen Sherman, San Diego, CA (US); and Xing Sun, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TUSIMPLE, INC., San Diego, CA (US)
Filed on Mar. 17, 2023, as Appl. No. 18/186,137.
Application 18/186,137 is a division of application No. 16/826,117, filed on Mar. 20, 2020, granted, now 11,619,943.
Prior Publication US 2023/0244237 A1, Aug. 3, 2023
Int. Cl. G05D 1/00 (2024.01); B62D 15/02 (2006.01)
CPC G05D 1/0212 (2013.01) [B62D 15/021 (2013.01); B62D 15/025 (2013.01); G05D 1/0274 (2013.01); G05D 1/0276 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of navigating an autonomous vehicle, comprising:
determining, by an online server located on the autonomous vehicle, current driving information including a current position in a geographic area where the autonomous vehicle is navigating;
using the current driving information to determine an optimal path for navigating the autonomous vehicle between the current position and a next position based on possible paths from a pre-stored path library, wherein the pre-stored path library comprises a grid map that represented the geographic area, the grid map comprising a grid node map and an orientation grid bin map, the grid node map comprising position information of grid nodes along a driving trajectory, and the orientation grid bin map comprising information of heading angle resolution of the driving trajectory at respective grid nodes; and
navigating the autonomous vehicle towards the next position based on the optimal path.