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1. WO2020132943 - A CORNER NEGOTIATION METHOD FOR AUTONOMOUS DRIVING VEHICLES WITHOUT MAP AND LOCALIZATION

Publication Number WO/2020/132943
Publication Date 02.07.2020
International Application No. PCT/CN2018/123900
International Filing Date 26.12.2018
IPC
B60W 40/10 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
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
10related to vehicle motion
B62D 6/00 2006.01
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
G01C 21/32 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
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
32Structuring or formatting of map data
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
CPC
B60W 2050/0026
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
0019Control system elements or transfer functions
0026Lookup tables or parameter maps
B60W 2050/0089
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
0062Adapting control system settings
0075Automatic parameter input, automatic initialising or calibrating means
0089Historical data record of previous events
B60W 2420/42
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
2420Indexing codes relating to the type of sensors based on the principle of their operation
42Image sensing, e.g. optical camera
B60W 2420/52
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
2420Indexing codes relating to the type of sensors based on the principle of their operation
52Radar, Lidar
B60W 2552/30
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
30Road curve radius
B60W 30/18145
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
18009related to particular drive situations
18145Cornering
Applicants
  • BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
  • BAIDU USA LLC [US]/[US]
Inventors
  • XU, Xin
  • ZHU, Fan
  • MA, Lin
Agents
  • INSIGHT INTELLECTUAL PROPERTY LIMITED
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) A CORNER NEGOTIATION METHOD FOR AUTONOMOUS DRIVING VEHICLES WITHOUT MAP AND LOCALIZATION
(FR) PROCÉDÉ DE NÉGOCIATION DE VIRAGE POUR VÉHICULES À CONDUITE AUTONOME SANS CARTE NI LOCALISATION
Abstract
(EN)
An ADV perceives a driving environment surrounding the ADV based on sensor data obtained from a variety of sensors mounted on the ADV including, for example, perceiving and recognizing a corner the ADV may be about to turn. Based on the perception data of the driving environment, a set of features representing the characteristics of an entrance point of a corner that the ADV is about to turn. Based on the characteristics of the corner, an entrance point of the corner is determined. Based on the entrance point, a lookup operation is performed in a corner mapping table to locate a mapping entry matching the entrance point. A turning radius is then obtained from the mapping entry of the corner mapping table. The turning radius obtained from the corner mapping table is then utilized to plan a trajectory (e.g., steering angle) to drive the ADV to turn the corner.
(FR)
La présente invention concerne un ADV qui perçoit un environnement de conduite entourant l'ADV sur la base de données de capteur obtenues à partir d'une variété de capteurs montés sur l'ADV consistant, par exemple, à percevoir et à reconnaître un virage que l'ADV peut être sur le point de passer. Sur la base des données de perception de l'environnement de conduite, un ensemble d'éléments représente les caractéristiques d'un point d'entrée d'un virage que l'ADV est sur le point de passer. Sur la base des caractéristiques du virage, un point d'entrée du virage est déterminé. Sur la base du point d'entrée, une opération de consultation est effectuée dans une table de mappage de virage afin de localiser une entrée de mappage correspondant au point d'entrée. Un rayon de virage est ensuite obtenu à partir de l'entrée de mappage de la table de mappage de virage. Le rayon de virage obtenu à partir de la table de mappage de virage est ensuite utilisé pour planifier une trajectoire (par exemple, un angle de direction) afin de conduire l'ADV pour le passage du virage.
Also published as
JP2019555233
Latest bibliographic data on file with the International Bureau