Method and system for operating autonomous driving vehicle

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Method and system for operating autonomous driving vehicle

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JIANG SHU / LIN WEIMAN / CAO YU / WANG YU / LUO QI / HU JIANGTAO / MIAO JINGHAO

A method and system for operating an autonomous driving vehicle introduces the positioning uncertainty of an ADV as a factor into its planning and control process. Positioning uncertainty may be caused by sensor inaccuracy, map matching algorithm inaccuracy, and/or velocity uncertainty. Positioning uncertainty may negatively affect trajectory planning and vehicle control. Embodiments described herein are directed to increasing the safety of an ADV by taking into account positioning uncertainty in trajectory planning and vehicle control. An exemplary method includes determining a confidence region of an ADV that autonomously drives over a road segment based on a positioning uncertainty and a speed uncertainty; determining that the object is in the confidence region, and determining a collision probability of the object and the ADV based on the distance between the object and the ADV; a trajectory is planned based on the collision probability, and the ADV is controlled based on the collision probability.

操作自主驾驶车辆的方法和系统将ADV的定位不确定性作为因素引入其规划和控制过程。定位不确定性可能由传感器不准确性、地图匹配算法不准确性和/或速度不确定性引起。定位不确定性可能对轨迹规划和车辆控制产生负面影响。本文描述的实施例旨在通过在轨迹规划和车辆控制中考虑定位不确定性来增加ADV的安全性。示例性方法包括基于定位不确定性和速度不确定性确定在路段上自主驾驶的ADV的置信区域；确定对象在置信区域内，以及基于对象与ADV的距离确定对象与ADV的碰撞概率；基于碰撞概率规划轨迹，以及基于碰撞概率控制ADV。

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Title :

Method and system for operating autonomous driving vehicle

Additional title:

操作自主驾驶车辆的方法和系统

Contributors:

JIANG SHU (author) / LIN WEIMAN (author) / CAO YU (author) / WANG YU (author) / LUO QI (author) / HU JIANGTAO (author) / MIAO JINGHAO (author)

Publication date :

2022-11-11

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

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