Abstract: Disclosed subject matter relates to field of vehicle navigation that performs a method of determining an optimal path for navigation of a vehicle. An optimal path selection system may receive a source point and a destination point from a user and may generate one or more planned paths between the source point and the destination point. Path profiling of the one or more planned paths based on one or more path parameters is performed. Quality of the one or more planned paths based on the path profiling and one or more vehicle parameters is determined. Finally, the optimal path is selected from the one or more planned paths based on the quality to navigate the vehicle.

Abstract: Disclosed subject matter relates to field of telematics that performs a method of correcting velocity of autonomous vehicle to navigate along a planned navigation path. A velocity correcting system may receive a velocity for navigating the autonomous vehicle for a selected segment along the planned navigation path and may identify plurality of values corresponding to current vehicle condition while the autonomous vehicle is navigating along the planned navigation path and may determine a counter angular velocity corresponding to current vehicle condition by comparing the plurality of values with pre-stored values. Finally, velocity is corrected by correlating the velocity with counter angular velocity and provided to navigation module for applying the correction velocity.

Abstract: Disclosed subject matter relates to field of vehicle navigation system that performs a method of generating trajectory for navigating an autonomous vehicle. A trajectory generating system associated with autonomous vehicle detects Points of Interest (POIs) for a selected segment which is at predefined distance from current position of autonomous vehicle, in real-time. Further, features of each of the POIs are determined and first level trajectory is generated for selected segment based on features of POIs proximal to selected segment. Furthermore, the trajectory generating system generates second level trajectory for portions of first level trajectory from current position of autonomous vehicle by modifying each portion based on real-time environment data.

Abstract: This disclosure relates to method and system for validating readings of orientation sensor mounted on autonomous ground vehicle (AGV). The method may include receiving distances and angles of observation of at least two fixed objects with respect to AGV at a first position and then at a second position, calculating a first orientation and a second orientation of AGV at the first position and at the second position respectively based on the distances, the angles of observation, and coordinate positions of each of the at least two fixed objects, determining an actual change in orientation of AGV based on the first orientation and the second orientation, and validating the readings of the orientation sensor based on the actual change in orientation. The at least two fixed objects are objects with pre-identified properties in a field of view of a vision sensor mounted on AGV and on both sides of AGV.

Abstract: The present invention relates to a method and device for navigating an autonomous vehicle. The autonomous vehicle generates a first trajectory based on a path of navigation and determines a current velocity and present load of the autonomous vehicle. Further, the autonomous vehicle measures a curvature of a curved segment in the first trajectory and matches the measured curvature of the curved segment with a plurality of curvatures of a second trajectory from a trajectory performance profile of the autonomous vehicle. The second trajectory is obtained by applying a plurality of linear and angular velocities to the autonomous vehicle on a test track. Further, the autonomous vehicle selects an optimal trajectory from the trajectory performance profile based on the matching and the current velocity and the present load of the autonomous vehicle. Further, the autonomous vehicle navigates along the optimal trajectory.

Abstract: The present disclosure discloses a method and an Electronic Control Unit (ECU) of autonomous vehicle for validating odometer performance in real-time. The method includes initiating navigation of the autonomous vehicle through a planned path on receipt of a source input and a destination input on a map. A first landmark at a first distance and a first viewing angle and a second landmark at a second distance and second viewing angle is detected from a current position of the autonomous vehicle. A first stored record corresponding to the first landmark based on a first distance match and a second stored record corresponding to the second landmark based on a second distance match is identified. The current position and a next consecutive position of the autonomous vehicle is determined. Reading of the odometer is validated with distance covered by the autonomous vehicle measured between the current position and the consecutive position.

Abstract: Method and device for identifying center of a path for navigation of an autonomous vehicle is disclosed. The method includes receiving a navigation map for a path connecting a destination point and an autonomous vehicle location point. The method further includes identifying a plurality of obstruction points along boundaries of the path based on the navigation map. The method includes determining a plurality of halfway points on the path based on the plurality of obstruction points. A halfway point is located between a straight line joining two consecutively identified obstruction points. The method further includes discarding at least one of the plurality of halfway points to extract a final set of halfway points on the path. The method includes arranging halfway points in the final set in a sequential order starting from the destination point to the autonomous vehicle location point.

Abstract: Disclosed herein are a method and system for positioning an autonomous vehicle on a navigation map. The method includes positioning the autonomous vehicle on the navigation map, including receiving the navigation map, an approximate position and an approximate orientation of the autonomous vehicle on the navigation map, and an environmental field of view (FOV) of the autonomous vehicle and determining a first road boundary based on the navigation map and the approximate position of the autonomous vehicle, and a second road boundary based on the environmental FOV and the approximate orientation of the autonomous vehicle, further determining at least one of an angular deviation and a lateral deviation between the first road boundary and the second road boundary, and positioning the autonomous vehicle on the navigation map by minimizing at least one the angular deviation and the lateral deviation.

Abstract: The present disclosure relates to a methods and systems for autonomous parking of vehicles (103). The vehicle receives an input signal for parking the vehicle in parking premises (100) comprising a plurality of parking space (102) having an elevated parking boundary indicator (101). The vehicle (103) obtains a map of the parking premises (100). Further, the vehicle (103) receives a plurality of LIDAR data points (205) of the parking premises (100) and identifies a plurality of linear patterns from the plurality of LIDAR data points (205). Thereafter, the vehicle (103) detects at least two linear patterns (401) from the plurality of linear patterns, having a predefined length and parallelly spaced apart, indicating the elevated parking boundary indicator (101) of an available parking space, where the vehicle (103) can be autonomously parked in the available parking space.

Abstract: A system and method for testing a Light Detection and Ranging (LiDAR) sensor is disclosed. The system includes the LiDAR sensor radiating a plurality of LiDAR rays, a plurality of bars positioned at a predetermined distance from the LiDAR sensor, and a testing device. The method includes triggering a LiDAR sensor to radiate a plurality of LiDAR rays. The method further includes determining at least one intersection point at each of a plurality of bars upon intersection of at least one LiDAR ray from the plurality of LiDAR rays with each of the plurality of bars. The method further includes computing at least one operational parameterfor the LiDAR sensor based on the intersection points, and determining one or more test results based on the one or more operational parameters.

Abstract: The present disclosure relates to an elevation detection system for an Autonomous Vehicle (AV) and a method for detecting elevation of surrounding of the AV. The elevation detection system includes an elevation sensor unit and a computation unit. The elevation sensor unit is configured to detect an elevation of a plurality of objects having a lower most elevation, in the surrounding of the AV to determine a boundary elevation of the road. The elevation sensor unit is vertically movable within a range of vertical positions. A Light Detection and Ranging (LIDAR) sensor unit is associated with the elevation sensor unit, to detect the surrounding of the AV, having a predefined Field of View (FoV). The computation unit determines a lower limit value of the FoV and provides it to the LIDAR sensor unit for accurately detecting obstacles in the road.

Abstract: Embodiments of present disclosure relates to method and system to accurate detection of partial visual fault in lidar sensor of moving vehicle. Initially, first line cluster data for static objects present within first predefined view of Lidar sensor is determined. Static objects are tracked until viewing angle of Lidar sensor for corresponding static object is 90°. The tracking is performed based on second line cluster data corresponding to first line cluster data for static objects present within second predefined view of Lidar sensor. During tracking, non-observation of second line cluster data corresponding to first line cluster data, for one or more static objects is detected. Angle of non-observation is determined for one or more static objects upon detection. Presence of partial visual fault for Lidar sensor is detected based on angle of non-observation, for notifying navigation system associated with moving vehicle.

Abstract: Disclosed subject matter relates to a field of vehicle navigation system that performs a method for determining an optimal trajectory for navigation of an autonomous vehicle. A trajectory determining system associated with the autonomous vehicle may detect an occurrence of a predefined condition related to diversion based on environment data. Further, minimum lateral shift required from a predefined distance for handling the detected predefined condition is determined and co-efficient value sets corresponding to the minimum lateral shift are determined based on pre-stored values that are generated based on a trial run. For each co-efficient value set, velocity and position data is determined at a plurality of time instances based on which one or more trajectories corresponding to each co-efficient value set are generated. Finally, an optimal trajectory is determined among the generated trajectories cumulative variation in orientation and total time required for navigating along the corresponding trajectory.

Abstract: The present disclosure discloses method and an Electronic Control Unit (ECU) (101) of autonomous vehicle for determining an accurate position. The ECU (101) determines centroid coordinate from Global Positioning System (GPS) points, relative to autonomous vehicle and identifies approximate location and orientation of vehicle on pre-generated map based on centroid coordinate and Inertial Measurement Unit (IMU) data. Distance and direction of surrounding static infrastructure is identified from location and orientation of autonomous vehicle based on road boundaries analysis and data associated with objects adjacent to autonomous vehicle. A plurality of lidar reflection reference points are identified within distance and direction of static infrastructure based on heading direction of autonomous vehicle. Position of lidar reflection reference points are detected from iteratively selected shift positions from centroid coordinate.

Abstract: The present disclosure discloses method and an autonomous navigation system for autonomously steering a vehicle in a reverse path in real-time. The method comprises instructing to terminate steering of the vehicle in a forward path when a forward steering angle calculated between an orientation of the vehicle and a direction of the forward path is more than a predefined threshold value, calculating a reverse steering angle based on the forward steering angle for steering the vehicle in a reverse path, receiving data of one or more obstacles in the reverse path, determining a distance for steering the vehicle in the reverse path based on the one or more obstacles and the reverse steering angle and instructing the vehicle to steer in the reverse path at the reverse steering angle for the distance. Thus, the present disclosure provides an efficient and simple method for maneuvering obstacles in the forward path.

Abstract: This disclosure relates generally to autonomous vehicle, and more particularly to method and system for correcting a pre-generated navigation path for an autonomous vehicle. In one embodiment, a method may be provided for correcting the pre-generated navigation path for the autonomous vehicle. The method may include receiving the pre-generated navigation path on a navigation map, an environmental field of view (FOV) of the autonomous vehicle, and a location of the autonomous vehicle on the pre-generated navigation path. The method may further include determining a set of new data points in a pre-defined region with respect to the location of autonomous vehicle based on the environmental FOV and the navigation map, determining an offset of the pre-generated navigation path in the pre-defined region based on the set of new data points, and correcting the pre-generated navigation path in the pre-defined region based on the offset.

Abstract: Disclosed subject matter relates to a field of telematics that performs a method for generating reference navigation path in real-time for safe navigation of vehicle. A path generation system associated with the vehicle may receive a pre-generated navigation path, between source point and destination point. Further, the path generation system may identify a plurality of values corresponding to current condition of the vehicle, for a selected segment while the vehicle is navigating along the pre-generated navigation path. Further, an angular shift of the vehicle is determined based on the current condition of the vehicle and a reference navigation path is generated for the selected segment based on the angular shift. The present disclosure eliminates need for continuous monitoring and steering angle adjustment to align the vehicle with the pre-generated navigation path, thereby reducing power consumption by the vehicle and also minimizing jerks experienced by the vehicle.

Abstract: Disclosed subject matter relates to field of vehicle navigation that performs a method of determining an optimal path for navigation of a vehicle. An optimal path selection system may receive a source point and a destination point from a user and may generate one or more planned paths between the source point and the destination point. Path profiling of the one or more planned paths based on one or more path parameters is performed. Quality of the one or more planned paths based on the path profiling and one or more vehicle parameters is determined. Finally, the optimal path is selected from the one or more planned paths based on the quality to navigate the vehicle.

Abstract: This disclosure relates generally to autonomous vehicle, and more particularly to method and system for determining a drivable navigation path for an autonomous vehicle. In one embodiment, a method may be provided for determining a drivable navigation path for the autonomous vehicle. The method may include receiving a base navigation path on a navigation map, a position and an orientation of the autonomous vehicle with respect to the base navigation path, and an environmental field of view (FOV). The method may further include deriving a navigational FOV based on the environmental FOV, the base navigation path, and the orientation of the vehicle. The method may further include determining a set of navigational data points from the navigational FOV, and generating at least a portion of the drivable navigation path for the autonomous vehicle based on the set of navigational data points.

Abstract: Disclosed subject matter relates to field of telematics that performs a method of correcting velocity of autonomous vehicle to navigate along a planned navigation path. A velocity correcting system may receive a velocity for navigating the autonomous vehicle for a selected segment along the planned navigation path and may identify plurality of values corresponding to current vehicle condition while the autonomous vehicle is navigating along the planned navigation path and may determine a counter angular velocity corresponding to current vehicle condition by comparing the plurality of values with pre-stored values. Finally, velocity is corrected by correlating the velocity with counter angular velocity and provided to navigation module for applying the correction velocity.