Abstract: The invention provides a computer-implemented method of planning a path for a mobile robot such as an autonomous vehicle in the presence of K obstacles. The method uses, for each of the K obstacles, a shape Bk and a density function pk(x) representing the probabilistic position of the obstacle. The method repeats the following steps for at least two different paths A: —choosing a path A, where A is the swept area of the robot within a given time interval; and—calculating based on the density function of each obstacle and the swept path an upper bound on the total probability of at least one collision FD between the robot and the K obstacles. This allows a number of candidate paths to be ranked for safety. By precomputing factors of the computational steps over K obstacles, the computation per path is O(N), and not O(NK). A safety threshold can be used to filter out paths below that threshold.

Abstract: There is provided an adaptive cruise control method for autonomously adapting the speed of an ego vehicle (300) to maintain a target headway, headway being distance from the ego vehicle to a forward vehicle (302), the ego vehicle equipped with a perception system (100) for measuring a current headway and a current speed and acceleration of the forward vehicle relative to ego vehicle, the method comprising: in response to detecting that the current headway is below the target headway, determining and implementing a deceleration strategy for increasing to the target headway; wherein the deceleration strategy is determined so as to selectively optimize for comfort in dependence on a predicted headway, the predicted headway computed for a future time instant based on the current speed and acceleration of the forward vehicle relative to the ego vehicle.

Abstract: A computer-implemented method of planning a path for a mobile robot in the presence of a set of obstacles comprises: computing for each obstacle a probabilistic obstacle position distribution; computing at least one path-independent function as a combination of the probabilistic obstacle position distributions; and for at least one candidate path, determining an upper bound on the total probability of obstacle collision along that path, by aggregating the path-independent function based on an area defined by the candidate path and a mobile robot shape, wherein the path-independent function is independent of the candidate path.

Abstract: The invention provides a computer-implemented method of planning a path for a mobile robot such as an autonomous vehicle in the presence of K obstacles. The method uses, for each of the K obstacles, a shape Bk and a density function pk(x) representing the probabilistic position of the obstacle. The method repeats the following steps for at least two different paths A:—choosing a path A, where A is the swept area of the robot within a given time interval; and—calculating based on the density function of each obstacle and the swept path an upper bound on the total probability of at least one collision FD between the robot and the K obstacles. This allows a number of candidate paths to be ranked for safety. By precomputing factors of the computational steps over K obstacles, the computation per path is O(N), and not O(NK). A safety threshold can be used to filter out paths below that threshold.