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1. WO2020062033 - CONTROL DOMINATED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES

Publication Number WO/2020/062033
Publication Date 02.04.2020
International Application No. PCT/CN2018/108358
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 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 30/14
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 30/18
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
18Propelling the vehicle
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 15/025
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
025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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) CONTROL DOMINATED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES
(FR) PLANIFICATION DE DEMI-TOUR EN TROIS TEMPS MAITRISÉ PAR COMMANDE POUR VÉHICULES À CONDUITE AUTONOME (ADV)
Abstract
(EN)
In response to a request for a three-point turn, a forward turning path from a current location and heading direction of the ADV is generated. In generating the forward turning path, a forward curvature is determined based on the maximum forward turning angle of the ADV by applying a full steering command. The forward turning path is determined based on the forward curvature from the current location of the ADV. A forward speed profile is calculated for the forward turning path based on perception information that perceives a driving environment surrounding the vehicle at the point in time. In addition, a backward turning path is generated from an end point of the forward turning path based on a maximum backward turning angle associated with the ADV. The three-point turn path is then generated based on the forward turning path and the backward turning path to drive the vehicle to make the three-point turn.
(FR)
En réponse à une demande d'un demi-tour en trois temps, une trajectoire de braquage en marche avant à partir d'un emplacement courant et d'une direction de cap de l'ADV est générée. Lors de la génération de la trajectoire de braquage en marche avant, une courbe en marche avant est déterminée sur la base de l'angle maximal de braquage en marche avant de l'ADV par application d'une commande de direction complète. La trajectoire de braquage en marche avant est déterminée sur la base de la courbe en marche avant à partir de l'emplacement courant de l'ADV. Un profil de vitesse en marche avant est calculé pour la trajectoire de braquage en marche avant sur la base d'informations de perception percevant un environnement de conduite entourant le véhicule à un moment donné. De plus, une trajectoire de braquage en marche arrière est générée à partir d'un point d'extrémité de la trajectoire de braquage en marche avant sur la base d'un angle maximal de braquage en marche arrière associé à l'ADV. La trajectoire de demi-tour en trois temps est ensuite générée sur la base de la trajectoire de braquage en marche avant et de la trajectoire de braquage en marche arrière pour que le véhicule effectue le demi-tour en trois temps.
Also published as
KRKR1020197024888
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