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1. WO2018093419 - TO DYNAMICALLY ADJUSTING STEERING RATES OF AUTONOMOUS VEHICLES

Publication Number WO/2018/093419
Publication Date 24.05.2018
International Application No. PCT/US2017/034152
International Filing Date 24.05.2017
IPC
G05D 1/00 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06F 7/00 2006.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
7Methods or arrangements for processing data by operating upon the order or content of the data handled
G08G 1/16 2006.1
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
CPC
B60W 10/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10Conjoint control of vehicle sub-units of different type or different function
20including control of steering systems
B60W 30/09
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
09Taking automatic action to avoid collision, e.g. braking and steering
B60W 30/14
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
14Adaptive; cruise control
B62D 6/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
G05D 1/0005
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0005with arrangements to save energy
G05D 1/0088
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0088characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
Applicants
  • BAIDU USA LLC [US]/[US]
Inventors
  • ZHU, Fan
  • KONG, Qi
  • YANG, Guang
  • WANG, Jingao
Agents
  • SHAO, Kevin G.
  • VINCENT, Lester J.
  • MALLIE, Michael J.
  • BARKLEY, Theresa
Priority Data
15/358,07821.11.2016US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) TO DYNAMICALLY ADJUSTING STEERING RATES OF AUTONOMOUS VEHICLES
(FR) RÉGLAGE DYNAMIQUE DES VITESSES DE DIRECTION DE VÉHICULES AUTONOMES
Abstract
(EN)
In one embodiment, a number of steering rate candidates are determined for a steering control command of operating an autonomous vehicle. For each of the steering rate candidates, a number of individual costs are calculated for the steering rate candidate by applying a plurality of cost functions, each cost function corresponding to one of a plurality of cost categories. A total cost for the steering rate candidate is determined based on the individual costs produced by the cost functions. One of the steering rate candidates having a lowest total cost is selected as a target steering rate. A steering control command is generated based on the selected steering rate candidate to control a steering wheel of the autonomous vehicle.
(FR)
Dans un mode de réalisation, un certain nombre de candidats de vitesse de direction sont déterminés pour une instruction de commande de direction du fonctionnement d'un véhicule autonome. Pour chacun des candidats de vitesse de direction, un certain nombre de coûts individuels sont calculés pour le candidat de vitesse de direction par application d'une pluralité de fonctions de coût, chaque fonction de coût correspondant à l'une d'une pluralité de catégories de coût. Un coût total du candidat de vitesse de direction est déterminé sur la base des coûts individuels produits par les fonctions de coût. L'un des candidats de vitesse de direction ayant le coût total le plus bas est sélectionné en tant que vitesse de direction cible. Une instruction de commande de direction est générée sur la base du candidat de vitesse de direction sélectionné pour commander un volant du véhicule autonome.
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