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Patent Number: |
7957858 |
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Case ID: |
0 |
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Patent Title:
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Method for determining projected obstacle areas for moving obstacles
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Status: |
ACTIVE |
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Status Date: |
12/2/2011 12:54:09 PM |
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Issue Date:
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6/7/2011 |
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Filed Date:
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2/25/2008 |
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Serial #:
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2/036,441 |
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Assignee Name:
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The United States of America as represented by the Secretary of the Navy
(Washington,
DC)
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Inventor(s):
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Larson, Jacoby R. , Bruch, Michael H. |
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CROSS REFERENCE TO RELATED APPLICATIONS
This application is related to U.S. Non-provisional patent application Ser. No. 11/956,209, filed Dec. 13, 2007, entitled "Obstacle Avoidance System and Method", the content of which is fully incorporated by reference herein.
BACKGROUND
Typical obstacle avoidance systems and methods do not determine routes using information about moving obstacles, as it is difficult to plan around an obstacle occupying different locations at different times. There is a current need for a
system and method that can determine the projected location of moving obstacles.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 shows a diagram of time-elapsed positions of a vehicle on a vehicle path and a moving obstacle on an obstacle path, in accordance with one embodiment of the Method for Determining Projected Obstacle Areas for Moving Obstacles.
FIG. 2 shows a diagram illustrating the determination of the points required fo . . . . More |
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A method involves calculating a closest point of approach (CPA) between a
vehicle and a moving obstacle, determining the CPA is within a
pre-determined distance from the vehicle at a point in time along the
vehicle path, calculating a projected obstacle area (POA) for the moving
obstacle, and modifying the vehicle path so the vehicle avoids the POA.
The POA is a polygonal region between the boundaries calculated by
determining a first point in time along the obstacle path that the moving
obstacle is within the pre-determined distance, determining a second
point in time along the obstacle path that the moving obstacle is within
the pre-determined distance, creating a first line on one side of a
midpoint line based upon a pre-determined angle of uncertainty, and
creating a second line on the other side of the midpoint line based upon
the pre-determined angle of uncertainty.
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We claim:
1. A method comprising the steps of: determining a closest point of approach between a vehicle traveling along a vehicle path and at least one moving obstacle traveling along an
obstacle path, the vehicle path having more than one vehicle path segments, the closest point of approach being along the obstacle path, the vehicle having a vehicle heading and a vehicle velocity and the moving obstacle having an obstacle heading and an
obstacle velocity; determining that the closest point of approach is within a pre-determined distance from the vehicle at a point in time along the vehicle path; determining a projected obstacle area for the moving obstacle, the determination
comprising determining a first point in time along the obstacle path that the moving obstacle is within the pre-determined distance from the vehicle, the first point in time being farther from the vehicle than the closest point of approach, determining a
second point in time along the obstacle path tha . . . . More |
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