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1. WO2018176313 - DECELERATION CURB-BASED DIRECTION CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

Publication Number WO/2018/176313
Publication Date 04.10.2018
International Application No. PCT/CN2017/078760
International Filing Date 30.03.2017
IPC
B60W 30/12 2006.1
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
10Path keeping
12Lane keeping
B60W 40/06 2012.1
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
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
06Road conditions
CPC
B60W 2050/0005
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
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
0001Details of the control system
0002Automatic control, details of type of controller or control system architecture
0004In digital systems, e.g. discrete-time systems involving sampling
0005Processor details or data handling, e.g. memory registers or chip architecture
B60W 2422/70
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
2422Indexing codes relating to the special location or mounting of sensors
70on the wheel or the tire
B60W 2520/10
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
2520Input parameters relating to overall vehicle dynamics
10Longitudinal speed
B60W 2554/60
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
2554Input parameters relating to objects
60Traversable objects, e.g. speed bumps or curbs
B60W 2720/24
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
2720Output or target parameters relating to overall vehicle dynamics
24Direction of travel
B60W 30/12
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
10Path keeping
12Lane keeping
Applicants
  • BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
  • BAIDU USA LLC [US]/[US]
Inventors
  • ZHU, Fan
  • KONG, Qi
  • LUO, Qi
  • YU, Xiang
  • HU, Sen
  • ZHU, Zhenguang
  • FU, Xiaoxin
  • HE, Jiarui
  • LI, Hongye
  • PAN, Yuchang
  • XIA, Zhongpu
  • ZHAO, Chunming
  • YANG, Guang
  • WANG, Jingao
Agents
  • INSIGHT INTELLECTUAL PROPERTY LIMITED
Priority Data
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) DECELERATION CURB-BASED DIRECTION CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES
(FR) SYSTÈME DE VÉRIFICATION DE DIRECTION À BASE DE BORDURE DE DÉCÉLÉRATION ET DE MAINTIEN DE VOIE POUR VÉHICULES À CONDUITE AUTONOME
Abstract
(EN) A lane departure detection system (306) detects that an autonomous driving vehicle (ADV) is departing from the lane (500) in which the ADV is driving based on sensor data captured when the ADV contact a deceleration curb (502) such as a speed bump laid across the lane (500). When the ADV contacts the deceleration curb (502), the lane departure detection system (306) detects and calculates an angle (505) of a moving direction (504) of the ADV vs a longitudinal direction of the deceleration curb (502). Based on the angle (505), the system calculates how much the moving direction (504) of the ADV is off compared to a lane direction (503) of the lane. The lane direction (503) is typically substantially perpendicular to the longitudinal direction of the deceleration curb (502). A control command such as a speed control command and/or a steering control command is generated based on the angle (505) to correct the moving direction (504) of the ADV.
(FR) L'invention porte sur un système de détection de sortie de voie (306) qui détecte qu'un véhicule de conduite autonome (ADV) sort de la voie (500) dans laquelle l'ADV est conduit sur la base de données de capteur capturées lorsque l'ADV est en contact avec une bordure de décélération (502) telle qu'un ralentisseur posé sur la voie (500). Lorsque l'ADV entre en contact avec la bordure de décélération (502), le système de détection de sortie de voie (306) détecte et calcule un angle (505) d'une direction de déplacement (504) de l'ADV par rapport à une direction longitudinale de la bordure de décélération (502). En se basant sur l'angle (505), le système calcule dans quelle mesure la direction de déplacement (504) de l'ADV est décalée par rapport à la direction de voie (503) de la voie. La direction de voie (503) est généralement sensiblement perpendiculaire à la direction longitudinale de la bordure de décélération (502). Une instruction de commande telle qu'une instruction de commande de vitesse et/ou une instruction de commande de direction est générée sur la base de l'angle (505) pour corriger la direction de déplacement (504) de l'ADV.
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