To provide a method for generating vertical direction trajectories from a starting point to an end point in consideration of a shape of a lane when controlling an autonomous driving vehicle (ADV) by planning a route.SOLUTION: An obstacle is predicted to move from a starting point to an end point on the basis of perception data perceiving driving environment around an autonomous driving vehicle (ADV) 501 that is driving within a lane. A longitudinal movement trajectory from the starting point to the end point is generated according to a shape of the lane 511. A lateral movement trajectory from the starting point to the end point is generated to optimize a shape of the lateral movement trajectory by using a first polynomial function. The longitudinal movement trajectory and the lateral movement trajectory are then combined to form a final predicted trajectory that predicts how the obstacle is to move. A path is generated to control movement of the ADV on the basis of the predicted trajectory of the obstacle, for example, to avoid collision with the obstacle.SELECTED DRAWING: Figure 5
【課題】経路を計画して自動運転車(ADV)を制御する場合において、車線の形状を考慮した上で起点から終点までの縦方向軌跡を生成するための方法を提供する、。【解決手段】車線内で運転されているADV501の周囲の運転環境が感知された感知データに基いて、障害物が起点から終点まで移動することを予測する。車線511の形状に応じて、起点から終点までの縦方向移動軌跡を生成する。起点から終点までの横方向移動軌跡を生成し、第一の多項式関数を使用して横方向移動軌跡の形状を最適化する。そして、縦方向移動軌跡と横方向移動軌跡とを組み合わせて、障害物が如何に移動するかを予測する最終の予測軌跡を形成する。障害物の予測軌跡に基づいて経路を生成して、例えば障害物との衝突を回避するようにADVの移動を制御する。【選択図】図5
METHOD FOR GENERATING PREDICTION TRAJECTORIES OF OBSTACLES FOR AUTONOMOUS DRIVING VEHICLES
自動運転車に対して障害物の予測軌跡を生成するための方法
2019-10-24
Patent
Electronic Resource
Japanese
METHOD FOR GENERATING PREDICTION TRAJECTORIES OF OBSTACLES FOR AUTONOMOUS DRIVING VEHICLES
European Patent Office | 2019
|Method for generating prediction trajectories of obstacles for autonomous driving vehicles
European Patent Office | 2022
|METHOD FOR GENERATING TRAJECTORIES FOR AUTONOMOUS DRIVING VEHICLES
European Patent Office | 2019
|Method for generating trajectories for autonomous driving vehicles (ADVS)
European Patent Office | 2021
|METHOD FOR GENERATING TRAJECTORIES FOR AUTONOMOUS DRIVING VEHICLES (ADVS)
European Patent Office | 2019
|