Claims:WE CLAIM:

1. A method of determining an optimal path for navigation of a vehicle, the method comprising:
receiving, by an optimal path selection system associated with the vehicle, a source point and a destination point from a user;
generating, by the optimal path selection system, one or more planned paths between the source point and the destination point;
performing, by the optimal path selection system, path profiling of the one or more planned paths based on one or more path parameters;
determining, by the optimal path selection system, quality of the one or more planned paths based on the path profiling and one or more vehicle parameters; and
selecting, by the optimal path selection system, the optimal path from the one or more planned paths based on the quality to navigate the vehicle.

2. The method as claimed in claim 1, wherein the one or more planned paths is generated using one or more path planning methods.

3. The method as claimed in claim 1, wherein performing the path profiling of the one or more planned paths comprises:
identifying at least of one of
one or more straight stretches in a planned path, the planned path being represented with a number of coordinate points on a static map; or
one or more turn stretches in the planned path, the one or more straight stretches and the one or more turn stretches together representing one or more path stretches in the planned path; and
determining corresponding widths of the planned path for the one or more path stretches.

4. The method as claimed in claim 3, wherein identifying the one or more straight stretches in the planned path comprises:
connecting a first coordinate point and a second coordinate point on the static map with a base line;
determining one or more reference lines by connecting the first coordinate point with each consecutive coordinate point;
measuring deviation angles between the base line and each of the one or more reference lines; and
identifying a straight stretch in the planned path if a maximum angular threshold is reached based on the measuring, the maximum angular threshold indicating a turn stretch in the planned path.

5. The method as claimed in claim 4 and further comprising:
shifting the base line to identify another straight stretch or another turn stretch in the planned path.

6. The method as claimed in claim 3, wherein identifying the one or more turn stretches in the planned path comprises:
measuring curvature angles between each two consecutive coordinate points, two consecutive coordinate points being connected with a line;
if the curvature angles are higher than a threshold value, determining continuance of curvature of a turn stretch in the planned path;
if the curvature angles are lesser than the threshold value, determining an end of the curvature of the turn stretch in the planned path; and
determining the measure of curvature for the turn stretch based on the end of the curvature of the turn stretch.

7. The method as claimed in claim 6 and further comprising:
shifting a base line on identifying the end of the curvature of the turn stretch in the planned path to identify another straight stretch or another turn stretch in the planned path.

8. The method as claimed in claim 6, wherein the measure of curvature is determined by combining the curvature angles for the turn stretch.

9. The method as claimed in claim 3, wherein determining the corresponding widths of the planned path for the one or more path stretches comprises:
identifying three consecutive coordinate points in a path stretch on the static map;
drawing a horizontal straight line on the three consecutive coordinate points and a perpendicular line to the horizontal straight line to determine a first boundary point and a second boundary point on the static map, the perpendicular line comprising a first distance and a second distance; and
determining the width of the planned path by combining the first distance and the second distance, the first distance representing a length between the horizontal straight line and the first boundary point and the second distance representing a length between the horizontal straight line and the second boundary point.

10. The method as claimed in claim 1, wherein determining the quality of the one or more planned paths based on the path profiling and vehicle parameters comprises:
comparing the vehicle parameters of the vehicle with the one or more path parameters for each planned path of the one or more planned paths.

11. An optimal path selection system for determining an optimal path for navigation of a vehicle, the optimal path selection system comprising:
a processor; and
a memory communicatively coupled to the processor, wherein the memory stores the processor-executable instructions, which, on execution, causes the processor to:
receive a source point and a destination point from a user;
generate one or more planned paths between the source point and the destination point;
perform path profiling of the one or more planned paths based on one or more path parameters;
determine quality of the one or more planned paths based on the path profiling and one or more vehicle parameters; and
select the optimal path from the one or more planned paths based on the quality to navigate the vehicle.

12. The optimal path selection system as claimed in claim 11, wherein the one or more planned paths is generated using one or more path planning methods.

13. The optimal path selection system as claimed in claim 11, wherein the processor performs the path profiling of the one or more planned paths by:
identifying at least of one of
one or more straight stretches in a planned path, the planned path being represented with a number of coordinate points on a static map; or
one or more turn stretches in the planned path, the one or more straight stretches and the one or more turn stretches together representing one or more path stretches in the planned path; and
determining corresponding widths of the planned path for the one or more path stretches.

14. The optimal path selection system as claimed in claim 13, wherein the processor identifies the one or more straight stretches in the planned path by:
connecting a first coordinate point and a second coordinate point on the static map with a base line;
determining one or more reference lines by connecting the first coordinate point with each consecutive coordinate point;
measuring deviation angles between the base line and each of the one or more reference lines; and
identifying a straight stretch in the planned path if a maximum angular threshold is reached based on the measuring, the maximum angular threshold indicating a turn stretch in the planned path.

15. The optimal path selection system as claimed in claim 14 and wherein the processor further comprises:
shifting the base line to identify another straight stretch or another turn stretch in the planned path.

16. The optimal path selection system as claimed in claim 13, wherein the processor identifies the one or more turn stretches in the planned path by:
measuring curvature angles between each two consecutive coordinate points, two consecutive coordinate points being connected with a line;
if the curvature angles are higher than a threshold value, determining continuance of curvature of a turn stretch in the planned path;
if the curvature angles are lesser than the threshold value, determining an end of the curvature of the turn stretch in the planned path; and
determining the measure of curvature for the turn stretch based on the end of the curvature of the turn stretch.

17. The optimal path selection system as claimed in claim 16 and wherein the processor further comprises:
shifting a base line on identifying the end of the curvature of the turn stretch in the planned path to identify another straight stretch or another turn stretch in the planned path.

18. The optimal path selection system as claimed in claim 16, wherein the measure of curvature is determined by combining the curvature angles for the turn stretch.

19. The optimal path selection system as claimed in claim 13, wherein the processor determines the corresponding widths of the planned path for the one or more path stretches by:
identifying three consecutive coordinate points in a path stretch on the static map;
drawing a horizontal straight line on the three consecutive coordinate points and a perpendicular line to the horizontal straight line to determine a first boundary point and a second boundary point on the static map, the perpendicular line comprising a first distance and a second distance; and
determining the width of the planned path by combining the first distance and the second distance, the first distance representing a length between the horizontal straight line and the first boundary point and the second distance representing a length between the horizontal straight line and the second boundary point.

20. The optimal path selection system as claimed in claim 11, wherein the processor determines the quality of the one or more planned paths based on the path profiling and vehicle parameters by:
comparing the vehicle parameters of the vehicle with the one or more path parameters for each planned path of the one or more planned paths.

Dated this 30th day of August, 2018

R Ramya Rao
Of K&S Partners
Agent for the Applicant
IN/PA-1607
, Description:TECHNICAL FIELD
The present subject matter relates generally to field of vehicle navigation, and more particularly, but not exclusively to a method and a system for determining an optimal path for navigation of a vehicle.