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1. WO2020132952 - POLYNOMIAL-FIT BASED REFERENCE LINE SMOOTHING METHOD FOR HIGH SPEED PLANNING OF AUTONOMOUS DRIVING VEHICLES

Publication Number WO/2020/132952
Publication Date 02.07.2020
International Application No. PCT/CN2018/123936
International Filing Date 26.12.2018
IPC
G01C 21/34 2006.1
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
34Route searching; Route guidance
CPC
B60K 2370/152
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
2370Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
15Output devices or features thereof
152Displays
B60K 2370/175
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
2370Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
16Type of information
175Autonomous driving
B60K 35/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
35Arrangement of adaptations of instruments
B60W 2720/10
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
2720Output or target parameters relating to overall vehicle dynamics
10Longitudinal speed
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 40/105
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
105Speed
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) POLYNOMIAL-FIT BASED REFERENCE LINE SMOOTHING METHOD FOR HIGH SPEED PLANNING OF AUTONOMOUS DRIVING VEHICLES
(FR) PROCÉDÉ DE LISSAGE DE LIGNE DE RÉFÉRENCE BASÉ SUR UN AJUSTEMENT POLYNOMIAL POUR UNE PLANIFICATION À GRANDE VITESSE DE VÉHICULES AUTONOME
Abstract
(EN)
Systems and methods for smoothing a reference line for an autonomous driving vehicle are described. In a method, a raw reference line can be generated from a high definition map and routing results, and can be truncated based on a predetermined formula. The truncated raw reference line can include a number of points, each point representing a position of an autonomous driving vehicle in a global coordinate system. The number of points can be converted to points in a local coordinate system, where a polynomial curve that best fits the points are generated. The polynomial curve can subsequently be used to generate a new vertical coordinate for a horizontal coordinate of each of the number of points. The new vertical coordinates and their corresponding horizontal coordinates can be converted back to the global coordinate system. The polynomial curve can be used to derive a heading, a kappa, and a dkappa for each point in the global coordinate system.
(FR)
L'invention concerne des systèmes et des procédés de lissage d'une ligne de référence pour un véhicule autonome. Dans un procédé, une ligne de référence brute peut être générée à partir d'une carte de haute définition et des résultats de routage, et peut être tronquée sur la base d'une formule prédéterminée. La ligne de référence brute tronquée peut comprendre un certain nombre de points, chaque point représentant une position d'un véhicule autonome dans un système de coordonnées global. Le nombre de points peut être converti en points dans un système de coordonnées local, une courbe polynomiale qui s'ajuste le mieux aux points étant générée. La courbe polynomiale peut ensuite être utilisée pour générer une nouvelle coordonnée verticale pour une coordonnée horizontale de chaque point du nombre de points. Les nouvelles coordonnées verticales et leurs coordonnées horizontales correspondantes peuvent être reconverties sur le système de coordonnées global. La courbe polynomiale peut être utilisée pour dériver un en-tête, un kappa et un dkappa pour chaque point dans le système de coordonnées global.
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