Route Planning for an Autonomous Vehicle
Among other things, a determination is made of an ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. The root conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination by the computer is based on properties of the autonomous vehicle.
1 . A computer-implemented method comprising
by computer determining an ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times, the route conforming to properties of stored road network information and
eliminating the road feature or road segment or route from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle,
the determination by the computer being based on properties of the autonomous vehicle.
2 . The method of claim 1 in which the properties comprise characteristics of sensors used by the autonomous vehicle during autonomous travel.
3 . The method of claim 1 in which the determination of the ability of the autonomous vehicle to safely or robustly travel is based on software processes that process data representing the properties of the autonomous vehicle.
4 . The method of claim 2 in which the properties comprise a level of performance of the sensors comprise an actual or estimated level of performance as a function of current or predicted future conditions.
5 . The method of claim 2 in which the properties of the autonomous vehicle comprise the capability of one or more sensors to yield a data product of interest at a specific level of performance.
6 . The method of claim 2 in which the properties of the autonomous vehicle comprise failure modes of one or more sensors.
7 . The method of claim 1 in which the properties of the autonomous vehicle comprise characteristics of software processes used by the autonomous vehicle.
8 . The method of claim 7 in which the characteristics of the software processes comprise the ability of the software processes to yield a data product of interest at a specific level of performance.
9 . The method of claim 7 in which the characteristics of software processes comprise an ability of a data fusion network to yield a data product of interest at a specific level of performance.
10 . The method of claim 7 in which the software processes comprise motion planning processes.
11 . The method of claim 7 in which the software processes comprise decision making processes.
12 . The method of claim 7 in which the software processes comprise motion control processes.