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1. WO2020062030 - A SPIRAL PATH BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES

Publication Number WO/2020/062030
Publication Date 02.04.2020
International Application No. PCT/CN2018/108355
International Filing Date 28.09.2018
IPC
G05D 1/02 2006.01
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
02Control of position or course in two dimensions
G01C 21/00 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
CPC
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
B60W 40/02
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 ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
02related to ambient conditions
B60W 40/072
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 ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
02related to ambient conditions
06Road conditions
072Curvature of the road
B60W 40/10
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
40Estimation or calculation of ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
10related to vehicle motion
B62D 15/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
G01C 21/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
Applicants
  • BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
  • BAIDU USA LLC [US]/[US]
Inventors
  • ZHU, Fan
  • MA, Lin
Agents
  • INSIGHT INTELLECTUAL PROPERTY LIMITED
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) A SPIRAL PATH BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES
(FR) PLANIFICATION DE DEMI-TOUR EN TROIS MANŒUVRES BASÉ SUR UN TRAJET EN SPIRALE POUR VÉHICULES À CONDUITE AUTONOME
Abstract
(EN)
In response to a request to make a three-point turn for an autonomous driving vehicle (ADV) (601), a forward turning path is generated using a first spiral function based on a maximum forward curvature change rate (602). A backward turning path is generated using a second spiral function based on a maximum backward curvature change rate (603). The forward and backward curvature change rates may be determined based on the maximum forward and backward turning angles associated with the ADV, which may be specified as a part of vehicle specification or vehicle design of the ADV. The backward turning path is initiated from an end point of the forward turning path (604). A three-point turn path is then generated based on the forward turning path and the backward turning path. The ADV is then driven according to the three-point turn path by issuing one or more proper control commands (605).
(FR)
En réponse à une demande de réaliser un demi-tour en trois manœuvres pour un véhicule à conduite autonome (ADV) (601), un trajet de braquage vers l'avant est généré à l'aide d'une première fonction en spirale sur la base d'un taux de changement de courbure vers l'avant maximal (602). Un trajet de braquage vers l'arrière est généré à l'aide d'une seconde fonction de spirale sur la base d'un taux de changement de courbure vers l'arrière maximal (603). Les taux de changement de courbure vers l'avant et vers l'arrière peuvent être déterminées sur la base des angles de braquage vers l'avant et vers l'arrière maximaux associés à l'ADV, qui peuvent être spécifiés en tant que partie de spécification de véhicule ou de conception de véhicule de l'ADV. Le trajet de braquage vers l'arrière est lancé à partir d'un point d'extrémité du trajet de braquage vers l'avant (604). Un trajet de demi-tour en trois manœuvres est ensuite généré sur la base du trajet de braquage vers l'avant et du trajet de braquage vers l'arrière. L'ADV est ensuite commandé en fonction du trajet de braquage en trois manœuvres par l'émission d'une ou plusieurs instructions de commande appropriées (605).
Also published as
KRKR1020197024879
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