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1. WO2021120202 - IMPLEMENTATION OF DYNAMIC COST FUNCTION OF SELF-DRIVING VEHICLES

Publication Number WO/2021/120202
Publication Date 24.06.2021
International Application No. PCT/CN2019/127126
International Filing Date 20.12.2019
IPC
G05D 1/02 2020.1
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
B60W 30/09 2012.1
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
09Taking automatic action to avoid collision, e.g. braking and steering
CPC
B60W 2520/10
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
2520Input parameters relating to overall vehicle dynamics
10Longitudinal speed
B60W 2554/4029
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
40Dynamic objects, e.g. animals, windblown objects
402Type
4029Pedestrians
B60W 2554/802
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
80Spatial relation or speed relative to objects
802Longitudinal distance
B60W 2555/60
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
2555Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
60Traffic rules, e.g. speed limits or right of way
B60W 2556/50
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
2556Input parameters relating to data
45External transmission of data to or from the vehicle
50for navigation systems
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
Applicants
  • BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
  • BAIDU USA LLC [US]/[US]
Inventors
  • XU, Xin
  • ZHU, Fan
  • DONG, Yu
  • MA, Lin
Agents
  • INSIGHT INTELLECTUAL PROPERTY LIMITED
Priority Data
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) IMPLEMENTATION OF DYNAMIC COST FUNCTION OF SELF-DRIVING VEHICLES
(FR) MISE EN ŒUVRE D'UNE FONCTION DE COÛT DYNAMIQUE DE VÉHICULES AUTONOMES
Abstract
(EN) A dynamic cost function can be used to collect real-time values of a set of parameters, and use the real-time values to constantly adjust a preferred safety distance where the ADV can be stopped ahead of the obstacle. A method includes determining a first distance to the obstacle in response to detecting an obstacle ahead of the ADV; and for each of a number of iterations, collecting a real-time value for each of a set of parameters, determining an offset to the first distance using the real-time value for each of the set of parameters, calculating a second distance based on the first distance and the offset, and controlling the ADV in view of the second distance using an expected value of each of the set of parameters, such that the ADV can stop at a point having the second distance to the obstacle.
(FR) Une fonction de coût dynamique peut être utilisée pour collecter des valeurs en temps réel d'un ensemble de paramètres, et utiliser les valeurs en temps réel pour ajuster constamment une distance de sécurité préférée en sachant que l'ADV peut être arrêté en amont de l'obstacle. Un procédé comprend la détermination d'une première distance par rapport à l'obstacle en réponse à la détection d'un obstacle en amont de l'ADV; et pour chacun d'un certain nombre d'itérations, la collecte d'une valeur en temps réel pour chaque paramètre d'un ensemble de paramètres, la détermination d'un décalage par rapport à la première distance à l'aide de la valeur en temps réel pour chaque paramètre de l'ensemble de paramètres, le calcul d'une seconde distance sur la base de la première distance et du décalage, et la commande de l'ADV en fonction de la seconde distance à l'aide d'une valeur attendue de chaque paramètre de l'ensemble de paramètres, de telle sorte que l'ADV peut s'arrêter à un point correspondant à la seconde distance par rapport à l'obstacle.
Related patent documents
EP19891682.7This application is not viewable in PATENTSCOPE because the national phase entry has not been published yet or the national entry is issued from a country that does not share data with WIPO or there is a formatting issue or an unavailability of the application.
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