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1. WO2020132942 - A MUTUAL NUDGE ALGORITHM FOR SELF-REVERSE LANE OF AUTONOMOUS DRIVING

Publication Number WO/2020/132942
Publication Date 02.07.2020
International Application No. PCT/CN2018/123896
International Filing Date 26.12.2018
IPC
B60W 30/08 2012.01
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
08Predicting or avoiding probable or impending collision
G08G 1/16 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
CPC
B60R 21/0134
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
21Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
01Electrical circuits for triggering ; passive; safety arrangements, ; e.g. airbags, safety belt tighteners,; in case of vehicle accidents or impending vehicle accidents
013including means for detecting collisions, impending collisions or roll-over
0134responsive to imminent contact with an obstacle ; , e.g. using radar systems
B60W 2552/00
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
2552Input parameters relating to infrastructure
B60W 2552/05
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
2552Input parameters relating to infrastructure
05Type of road
B60W 2552/10
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
2552Input parameters relating to infrastructure
10Number of lanes
B60W 2552/53
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
2552Input parameters relating to infrastructure
53Road markings, e.g. lane marker or crosswalk
B60W 2554/00
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
Applicants
  • BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
  • BAIDU USA LLC [US]/[US]
Inventors
  • ZHU, Fan
  • MA, Lin
  • XU, Xin
Agents
  • INSIGHT INTELLECTUAL PROPERTY LIMITED
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) A MUTUAL NUDGE ALGORITHM FOR SELF-REVERSE LANE OF AUTONOMOUS DRIVING
(FR) ALGORITHME D'ÉVITEMENT MUTUEL POUR FILE À AUTO-INVERSION DE CONDUITE AUTONOME
Abstract
(EN)
According to various embodiments, systems and methods are provided for use by an ADV to nudge incoming objects in a self-reverse lane. In an embodiment, an ADV determines that a self-reverse lane has a predetermined width before entering the self-reverse lane. After entering the self-reverse lane, the ADV can follow a first reference line at the center of the self-reverse lane. In response to detecting an incoming object, the ADV creates an alternative lane in the self-reverse lane by temporarily modifying a high definition map. The ADV subsequently follows a second reference line in the alternative lane to nudge the incoming object. In response to detecting that the incoming object has passed and the self-reverse lane is clear, the ADV can drive back to the center of the self-reverse lane, to continue to follow the first reference line in the self-reverse lane.
(FR)
Différents modes de réalisation de l'invention concernent des systèmes et des procédés destinés à être utilisés par un véhicule à conduite autonome pour éviter des objets entrants dans une file à auto-inversion. Dans un mode de réalisation, un véhicule à conduite autonome détermine qu'une file à auto-inversion a une largeur prédéterminée avant d'entrer sur la file à auto-inversion. Après être entré sur la file à auto-inversion, le véhicule à conduite autonome peut suivre une première ligne de référence au centre de la file à auto-inversion. En réponse à la détection d'un objet entrant, le véhicule à conduite autonome crée une file alternative dans la file à auto-inversion par la modification temporaire d'une carte à haute définition. Le véhicule à conduite autonome suit ensuite une seconde ligne de référence dans la file alternative de façon à éviter l'objet entrant. En réponse à la détection du fait que l'objet entrant est passé et que la file à auto-inversion est libre, le véhicule à conduite autonome peut revenir au centre de la file à auto-inversion, de façon à continuer à suivre la première ligne de référence dans la file à auto-inversion.
Also published as
JP2019555192
Latest bibliographic data on file with the International Bureau