US 12,170,026 B2
Method and system for planning vehicle trajectories by enhancing en route navigation performance
Michael Ray Elgersma, Plymouth, MN (US); and Vibhor L Bageshwar, Rosemount, MN (US)
Assigned to Honeywell International Inc., Charlotte, NC (US)
Filed by Honeywell International Inc., Charlotte, NC (US)
Filed on Jun. 17, 2021, as Appl. No. 17/350,959.
Prior Publication US 2022/0406197 A1, Dec. 22, 2022
Int. Cl. G08G 5/00 (2006.01); G01S 19/47 (2010.01); G06V 10/44 (2022.01); G06V 20/13 (2022.01)
CPC G08G 5/0034 (2013.01) [G01S 19/47 (2013.01); G06V 10/44 (2022.01); G06V 20/13 (2022.01); G08G 5/0047 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
capturing one or more terrain images of a given area over which a vehicle traverses, the terrain images captured with at least one vision sensor onboard the vehicle;
sending image data from the at least one vision sensor to a processor onboard the vehicle, the processor hosting a probability density function (PDF) filter, the image data corresponding to the one or more terrain images of the given area;
creating an edge map representation, in the processor, based on the image data corresponding to the one or more terrain images of the given area;
identifying, in the processor, a total number of edge pixels in each of a plurality of sub-regions of the edge map representation;
determining, in the PDF filter, a measurement PDF for each of the sub-regions based on the number of edge pixels with information content in each sub-region;
computing, in the processor, a trajectory cost for each of the sub-regions by dividing a user-selected scalar by a sum of: a user-selected value and the number of edge pixels with information content in each sub-region;
selecting, in the processor, a trajectory for navigation of the vehicle over the given area based on the trajectory cost for each of the sub-regions; and
adjusting a velocity of the vehicle in real-time in response to the selected trajectory.