According to one aspect, a set of driving scenes are defined including, but are not limited to, a driving straight scene, a turning scene, a nudge scene, and a lane changing scene. For each of the predefined driving scenes, a list of path segments corresponding to a set of one or more features (e.g., speed, curvature, turning radius, relative distance, lane width, etc.) are determined based on the driving statistics of a number of vehicles driving through the same or similar driving scenes (e.g., driving straight, making turns, changing lanes, nudging obstacles or another vehicle) in the past. The path segments are then stored in a driving scene-to-path (scene/path) data structure specifically configured for the corresponding driving scene. For example, there will be at least one scene/path data structure for each of the driving straight scene, turning scene, nudge scene, and lane changing scene.
Driving scene based path planning for autonomous driving vehicles
2021-05-11
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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