SYSTEM AND METHOD FOR PLANNING A VEHICLE PATH
A system and method for determining a path for autonomous navigation based on user input is described. The vehicle can include one or more sensors to collect data for generating a three-dimensional (3D) model of the vehicle's surroundings. A two-dimensional (2D) occupancy grid map can be generated from the 3D model and displayed at a computing device. In some examples, the occupancy grid map can be displayed at a user interface of the electronic device. The user interface can further accept user input in the form of one or more of a user-defined path, an endpoint, a vehicle pose, or a series of waypoints. Based on the user input, a finalized path for autonomous vehicle travel can be determined. Determining a finalized path can include determining an optimal, minimum-distance path, applying a smoothing algorithm, and/or applying a constraint to maintain a minimum distance from any static obstacles near the vehicle. While traveling along the finalized path, one or more sensors can monitor the vehicle's surroundings for obstacles. In response to a detected obstacle, the vehicle can stop and/or determine a new path for travel.
1 . A method of determining a path of travel for a vehicle, the method comprising:
generating a three-dimensional (3D) model of the vehicle's surroundings;
converting the 3D model to a two-dimensional (2D) occupancy grid map;
receiving a user input indicative of one or more points along a desired path;
determining a finalized path in accordance with the user input; and
autonomously driving along the finalized path.
2 . The method of claim 1 , wherein the 3D model is generated based on data from one or more sensors included in the vehicle.
3 . The method of claim 1 , wherein the occupancy grid map includes a footprint of one or more objects included in the 3D model.
4 . The method of claim 1 , wherein the user input includes one or more of a user-defined path, an endpoint, a vehicle pose, and a series of waypoints.
5 . The method of claim 1 , wherein the user input is received at a computing device operatively coupled to the vehicle.
6 . The method of claim 1 , further comprising generating an optimal path based on the user input.
7 . The method of claim 1 , further comprising generating a smooth path based on the user input.
8 . The method of claim 1 , wherein the finalized path is at least a pre-defined minimum distance away from any obstacles included in the occupancy grid map at all points.
9 . The method of claim 1 , further comprising, while driving autonomously:
in accordance with a determination that there is an obstacle along the finalized path, stopping the vehicle.
10 . The method of claim 9 , further comprising:
in accordance with the determination that there is an obstacle along the finalized path, determining a new path and driving along the new path.
11 . The method of claim 9 , further comprising:
in accordance with a determination that there is no longer an obstacle along the finalized path, resuming driving along the finalized path.
12 . A vehicle comprising a processor, the processor configured for:
generating a three-dimensional (3D) model of the vehicle's surroundings;
converting the 3D model to a two-dimensional (2D) occupancy grid map;
receiving a user input indicative of one or more points along a desired path;
determining a finalized path in accordance with the user input; and
autonomously driving along the finalized path.
13 . A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors of a vehicle, causes the processor to perform a method of determining a path of travel for the vehicle, the method comprising:
generating a three-dimensional (3D) model of the vehicle's surroundings;
converting the 3D model to a two-dimensional (2D) occupancy grid map;
receiving a user input indicative of one or more points along a desired path;
determining a finalized path in accordance with the user input; and
autonomously driving along the finalized path.