公开(公告)号：US20190004524A1

公开(公告)日：2019-01-03

申请号：US15691617

申请日：2017-08-30

Applicant: Faraday&Future Inc.

Inventor： Yizhou Wang ,  Changliu Liu ,  Xiaoying Chen ,  Chongyu Wang ,  Kai Ni

IPC: G05D1/02 ,  G01C21/36 ,  G01C21/34

Abstract: 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.