Claims:We claim:
1. A method for guiding an autonomous vehicle in a forward path in real-time, comprising:
instructing, by an Electronic Control Unit (ECU) of a vehicle, the vehicle to terminate autonomous steering in a forward path, on identifying an angular difference, between a current orientation of the vehicle and orientation of a generated path, to be greater than a predefined threshold value; and
performing, by the ECU, for every predefined time interval, until the angular difference is less than the predefined threshold value, steps of:
estimating, by the ECU, a frontal area for the vehicle based on a current speed, an orientation, and a width of the vehicle;
calculating, by the ECU, a forward turning angle based on the angular difference and a length of the frontal area; and
guiding, by the ECU, the vehicle to manoeuvre steer at the forward turning angle within the frontal area.

2. The method as claimed in claim 1, wherein the frontal area is in a predefined geometrical shape.

3. The method as claimed in claim 1, wherein the frontal area is free from one or more obstacles.

4. The method as claimed in claim 1, wherein the frontal area is estimated by:

determining, by the ECU, a central orientation line and associated array points from current position of the vehicle;
identifying, by the ECU, a line perpendicular to the central orientation line, passing through each of the array points on both sides of the central orientation line;
identifying, by the ECU, a plurality of direction points for each of the perpendicular line; and
estimating, by the ECU, the frontal area based on the plurality of direction points of each of the perpendicular line of both sides of the central orientation line.

5. The method as claimed in claim 4, wherein number of the array points is based on the current speed of the vehicle.
6. The method as claimed in claim 4, wherein the plurality of direction points is equal in number with respect to central orientation line on each perpendicular line identified towards the generated path.

7. The method as claimed in claim 4, wherein the plurality of direction points on each perpendicular line identified towards opposite direction of the generated path reduces from nearest point of the vehicle to furthest point of the geometrical shape.

8. The method as claimed in claim 1, wherein estimating the frontal area comprises searching for the frontal area away from the generated path based on orientation of the vehicle.

9. An Electronic Control Unit (ECU) for guiding an autonomous vehicle in a forward path in real-time, configured to:
instruct the vehicle to terminate autonomous steering in a forward path, on identifying an angular difference, between a current orientation of the vehicle and orientation of a generated path, to be greater than a predefined threshold value; and
perform, for every predefined time interval, until the angular difference is less than the predefined threshold value, steps of:
estimate a frontal area for the vehicle based on a current speed, an orientation, and a width of the vehicle;
calculate a forward turning angle based on the angular difference and a length of the frontal area; and
guide the vehicle to manoeuvre steer at the forward turning angle within the frontal area.

10. The ECU as claimed in claim 9, wherein the frontal area is in a predefined geometrical shape.

11. The ECU as claimed in claim 9, wherein the frontal area is free from one or more obstacles.

12. The ECU as claimed in claim 9, wherein the processor estimates the frontal area by:

determining a central orientation line and associated array points from current position of the vehicle;
identifying a line perpendicular to the central orientation line, passing through each of the array points on both sides of the central orientation line;
identifying a plurality of direction points for each of the perpendicular line; and
estimating the frontal area based on the plurality of direction points of each of the perpendicular line of both sides of the central orientation line.

13. The ECU as claimed in claim 12, wherein number of the array points is based on the current speed of the vehicle.

14. The ECU as claimed in claim 12, wherein the plurality of direction points is equal in number with respect to number of perpendicular line identified towards the generated path.

15. The ECU as claimed in claim 12, wherein the plurality of direction points identified towards opposite direction of the generated path reduces from nearest point of the vehicle to furthest point of the geometrical shape.

16. The ECU as claimed in claim 9, wherein the processor estimates the frontal area by searching for the frontal area away from the generated path based on orientation of the vehicle.

Dated this 15th day of December, 2017

R Ramya Rao
IN/PA-1607
Of K&S Partners
Agent for the Applicant
, Description:TECHNICAL FIELD
The present disclosure is related in general to field of automobile industry. Particularly, but not exclusively, the present disclosure relates to a method and system for guiding an autonomous vehicle in a forward path in real-time