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1. WO2020191712 - A MAP-LESS AND CAMERA-BASED LANE MARKINGS SAMPLING METHOD FOR LEVEL-3 AUTONOMOUS DRIVING VEHICLES


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INTERNATIONAL SEARCH REPORT (ISR)
Part 1:  1  2  3  4  5  6          Part 2:  A  B  C  D  E 
International application No. Applicant's or agent's file reference
PCT/CN2019/080098 19A51000
International filing date (day/month/year) (Earliest) Priority Date (day/month/year)
28 March 2019
Applicant
BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. et al
FOR FURTHER ACTION: See Form PCT/ISA/220 as well as, where applicable, item 5 below.
This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.
It is also accompanied by a copy of each prior art document cited in this report.
1. Basis of the report
a. With regard to the language, the international search was carried out on the basis of:
the international application in the language in which it was filed.
a translation of the international application into                                          which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)).
b.
This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6bis(a)).
c.
With regard to any nucleotide and/or amino acid sequence disclosed in the international application, the international search was carried out on the basis of a sequence listing:
2. Certain claims were found unsearchable
3. Unity of invention is lacking
4. Title of the invention
The text is approved as submitted by the applicant.
The text has been established by this Authority to read as follows:
5. Abstract
The text is approved as submitted by the applicant.
The text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.

A computer-implemented method for discretizing lane markings and for generating a lane reference line is disclosed. A polynomial defined over an (x, y) coordinate system is received, the polynomial being representative of at least a portion of a lane boundary line. A length of the polynomial is determined. The polynomial is discretized, comprising determining a plurality of discretization points on the polynomial to represent the polynomial, wherein a first discretization piint is a first end of the polynomial, wherein subsequent discretization points are determined successively until the polynomial is completely discretized, and wherein each discretization point other than the first discretization point is determined based at least in part on a slope of the polynomial at a previous discretization point. Thereafter, a lane reference line comprising a plurality of points is generated based on the discretized polynomial. A non-transitory machine-readable medium having instructions stored therein and a data processing system for discretizing lane markings and for generating a lane reference line are also disclosed.


6. Drawings
a.
The figure of the drawings to be published with the abstract is Figure No.     7    
as suggested by the applicant.
as selected by this Authority, because the applicant failed to suggest a figure.
as selected by this Authority, because this figure better characterizes the invention.
b.
none of the figures is to be published with the abstract.

A. CLASSIFICATION OF SUBJECT MATTER

According to International Patent Classification (IPC) or to both national classification and IPC

B. FIELDS SEARCHED

Minimum documentation searched (classification system followed by classification symbols):
     G21C21; B60W30; G05D1
Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched:
Electronic data base consulted during the international search (name of data base and, where practicable, search terms used):
CNABS;CPRSABS;CNTXT;CNKI;VEN:BAIDU, discretiz+, polynomial, lane, path line, reference, boundary, adv, autonomous driving vehicle, slope, first , previous, second, next, trajectory

C. DOCUMENTS CONSIDERED TO BE RELEVANT

Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No.
(1)
A
CN 108981730 A (BAIDU USA LLC) 11 December 2018 (2018-12-11)
1-20
the whole document
(2)
A
CN 109263639 A (UNIV WUHAN TECHNOLOGY) 25 January 2019 (2019-01-25)
1-20
the whole document
(3)
A
CN 108562292 A (UNIV XIDIAN) 21 September 2018 (2018-09-21)
1-20
the whole document
(4)
A
CN 108088456 A (UNIV BEIJING TECHNOLOGY) 29 May 2018 (2018-05-29)
1-20
the whole document
(5)
A
CN 109426256 A (BAIDU USA LLC) 05 March 2019 (2019-03-05)
1-20
the whole document
(6)
A
WO 2018176313 A1 (BAIDU COM TIMES TECH BEIJING CO LTDET AL.) 04 October 2018 (2018-10-04)
1-20
the whole document
*
Special categories of cited documents:
"A"
document defining the general state of the art which is not considered to be of particular relevance
"D"
document cited by the applicant in the international application
"E"
earlier application or patent but published on or after the international filing date
"L"
document which may throw doubts on priority claim(s) or which is cited to establish the publication date of another citation or other special reason (as specified)
"O"
document referring to an oral disclosure, use, exhibition or other means
"P"
document published prior to the international filing date but later than the priority date claimed
"T"
later document published after the international filing date or priority date and not in conflict with the application but cited to understand the principle or theory underlying the invention
"X"
document of particular relevance; the claimed invention cannot be considered novel or cannot be considered to involve an inventive step when the document is taken alone
"Y"
document of particular relevance; the claimed invention cannot be considered to involve an inventive step when the document is combined with one or more other such documents, such combination being obvious to a person skilled in the art
"&"
document member of the same patent family

D. INFORMATION ON PATENT FAMILY MEMBERS

Patent document cited in search report Publication date
(day/month/year)
Patent family member(s) Publication date
(day/month/year)
CN 108981730 A
11 December 2018
US 2018348761 A1
06 December 2018
CN 109263639 A
25 January 2019
None
CN 108562292 A
21 September 2018
None
CN 108088456 A
29 May 2018
None
CN 109426256 A
05 March 2019
US 2019071091 A1
07 March 2019
WO 2018176313 A1
04 October 2018
US 2018334166 A1
JP 2019519413 A
EP 3405374 A1
KR 20180135847 A
EP 3405374 A4
KR 102042946 B1
CN 109070889 A
22 November 2018
11 July 2019
28 November 2018
21 December 2018
28 November 2018
08 November 2019
21 December 2018
Name and mailing address of the ISA/:
National Intellectual Property Administration, PRC
6, Xitucheng Rd., Jimen Bridge, Haidian District, Beijing 100088
China
Facsimile No. (86-10)62019451
Date of the actual completion of the international search:
19 December 2019
Date of mailing of the international search report:
27 December 2019
Authorized officer:
PENG,Zhiping
Telephone No. 86-(010)-62085741
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