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1. (WO2018063427) A SIDESLIP COMPENSATED CONTROL METHOD FOR AUTONOMOUS VEHICLES
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Pub. No.: WO/2018/063427 International Application No.: PCT/US2017/013805
Publication Date: 05.04.2018 International Filing Date: 17.01.2017
IPC:
B60T 8/172 (2006.01) ,G01B 21/22 (2006.01) ,G01C 1/00 (2006.01) ,G01C 21/00 (2006.01) ,G05D 1/02 (2006.01) ,G06F 7/00 (2006.01) ,G06T 1/00 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
T
VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
8
Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
17
Using electrical or electronic regulation means to control braking
172
Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
G PHYSICS
01
MEASURING; TESTING
B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
21
Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the other groups of this subclass
22
for measuring angles or tapers; for testing the alignment of axes
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
1
Measuring angles
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
7
Methods or arrangements for processing data by operating upon the order or content of the data handled
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
T
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
1
General purpose image data processing
Applicants: BAIDU USA LLC[US/US]; 1195 Bordeaux Drive Sunnyvale, California 94089, US
Inventors: KONG, Qi; US
ZHU, Fan; US
YANG, Guang; US
WANG, Jingao; US
Agent: SHAO, Kevin G.; US
MALLIE, Michael J.; US
VINCENT, Lester J.; US
Priority Data:
15/279,14128.09.2016US
Title (EN) A SIDESLIP COMPENSATED CONTROL METHOD FOR AUTONOMOUS VEHICLES
(FR) PROCÉDÉ DE COMMANDE COMPENSÉE PAR DÉRAPAGE POUR VÉHICULES AUTONOMES
Abstract:
(EN) A set of driving scenarios are determined for different types of vehicles. Each driving scenario corresponds to a specific movement of a particular type of autonomous vehicles. For each of the driving scenarios of each type of autonomous vehicles, a set of driving statistics is obtained, including driving parameters used to control and drive the vehicle, a driving condition at the point in time, and a sideslip caused by the driving parameters and the driving condition under the driving scenario. A driving scenario/sideslip mapping table or database is constructed. The scenario/sideslip mapping table includes a number of mapping entries. Each mapping entry maps a particular driving scenario to a sideslip that is calculated based on the driving statistics. The scenario/sideslip mapping table is utilized subsequently to predict the sideslip under the similar driving environment, such that the driving planning and control can be compensated.
(FR) Ensemble de scénarios de conduite déterminé pour différents types de véhicules. Chaque scénario de conduite correspond à un déplacement spécifique d'un type particulier de véhicules autonomes. Pour chacun des scénarios de conduite de chaque type de véhicules autonomes, un ensemble de statistiques de conduite est obtenu, comprenant des paramètres de conduite utilisés pour commander et entraîner le véhicule, une condition de conduite au moment, et un dérapage provoqué par les paramètres de conduite et la condition de conduite dans le scénario de conduite. Une base de données ou table de mappage de dérapage/scénario de conduite est construite. La table de mappage de dérapage/scénario comprend un certain nombre d'entrées de mappage. Chaque entrée de mappage mappe un scénario de conduite particulier sur un dérapage qui est calculé sur la base des statistiques de conduite. La table de mappage de dérapage/scénario est utilisée ultérieurement pour prédire le dérapage dans l'environnement de conduite similaire, de telle sorte que la planification et la commande de conduite peuvent être compensées.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)