Claims:We claim:

1. A method for generating safe navigation path for a vehicle, the method comprising:
receiving, by a navigation path generation system, a reference path between a source and a destination, wherein the reference path is confined between a left boundary and a right boundary;
projecting, by a navigation path generation system, a line perpendicular to an orientation of the vehicle present at the source, to at least one of the left boundary and the right boundary, wherein an end point of the line projected towards the left boundary lies on the left boundary and wherein the end point of the line projected towards the right boundary lies on the right boundary;
generating, by the navigation path generation system, a plurality of segments along at least one of the left boundary and the right boundary, starting from the end point of the line;
determining, by the navigation path generation system, an angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line;
projecting, by the navigation path generation system, at least one of a horizontal line and a vertical line from a predefined point of each of the plurality of segments to an opposite road boundary, based on the angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line;
determining, by the navigation path generation system, a centre point of the horizontal line and vertical line projected from each of the plurality of segments; and
generating, by the navigation path generation system, a safe navigation path for the vehicle based on the centre point of the horizontal line and vertical line projected from each of the plurality of segments.

2. The method as claimed in claim 1, wherein the reference path is received from a static map generated using a Light Detection and Ranging (LIDAR) system.
3. The method as claimed in claim 1, wherein each of the plurality of segments is a straight line generated with respect to the orientation of at least one of the left boundary and the right boundary, wherein each of the plurality of segments has a pre-determined length.

4. The method as claimed in claim 1, wherein the predefined point of each of the plurality of segments is a starting point of each of the plurality of segments.

5. The method as claimed in claim 1, wherein the angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line is compared with an angular threshold.

6. The method as claimed in claim 1, wherein the safe navigation path is generated based on a curve fitting of the centre point of the horizontal line and vertical line projected from each of the plurality of segments.

7. A navigation path generation system for generating a safe navigation path for a vehicle, the navigation path generation system comprising;
an Electronic Control Unit (ECU), configured to:
receive, a reference path between a source and a destination, wherein the reference path is confined between a left boundary and a right boundary;
project, a line perpendicular to an orientation of the vehicle present at the source, to at least one of the left boundary and the right boundary, wherein an end point of the line projected towards the left boundary lies on the left boundary and wherein the end point of the line projected towards the right boundary lies on the right boundary;
generate, a plurality of segments along at least one of the left boundary and the right boundary, starting from the end point of the line;
determine, an angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line;
project, at least one of a horizontal line and a vertical line from a predefined point of each of the plurality of segments to an opposite road boundary, based on the angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line;
determine, a centre point of the horizontal line and vertical line projected from each of the plurality of segments; and
generate, a safe navigation path for the vehicle based on the centre point of the horizontal line and vertical line projected from each of the plurality of segments.

8. The navigation path generation system as claimed in claim 7, wherein the reference path is received from a static map generated using a Light Detection and Ranging (LIDAR) system.

9. The navigation path generation system as claimed in claim 7, wherein each of the plurality of segments is a straight line generated with respect to the orientation of at least one of the left boundary and the right boundary, wherein each of the plurality of segments has a pre-determined length.

10. The navigation path generation system as claimed in claim 7, wherein the predefined point of each of the plurality of segments is a starting point of each of the plurality of segments.

11. The navigation path generation system as claimed in claim 7, the angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line is compared with an angular threshold.

12. The navigation path generation system as claimed in claim 7, wherein the safe navigation path is generated based on a curve fitting of the centre point of the horizontal line and vertical line projected from each of the plurality of segments.

Dated this 16th day of February 2018

R Ramya Rao
IN/PA-1607
Of K&S Partners
Agent for the Applicant
, Description:TECHNICAL FIELD
The present disclosure relates to navigation of vehicles. Particularly, but not exclusively, the present disclosure relates to a method and a system for generating a safe navigation path for a vehicle.