- 专利标题: Map-less and localization-less lane following method for autonomous driving of autonomous driving vehicles on highway
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申请号: US16067556申请日: 2018-04-18
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公开(公告)号: US11260880B2公开(公告)日: 2022-03-01
- 发明人: Fan Zhu , Qi Kong , Yuchang Pan , Feiyi Jiang , Xin Xu , Xiaoxin Fu , Zhongpu Xia , Chunming Zhao , Liangliang Zhang , Weicheng Zhu , Li Zhuang , Haoyang Fan , Hui Jiang , Jiaming Tao
- 申请人: Baidu USA LLC , Baidu.com Times Technology (Beijing) Co., Ltd.
- 申请人地址: US CA Sunnyvale; CN Beijing
- 专利权人: Baidu USA LLC,Baidu.com Times Technology (Beijing) Co., Ltd.
- 当前专利权人: Baidu USA LLC,Baidu.com Times Technology (Beijing) Co., Ltd.
- 当前专利权人地址: US CA Sunnyvale; CN Beijing
- 代理机构: Womble Bond Dickinson (US) LLP
- 国际申请: PCT/CN2018/083557 WO 20180418
- 国际公布: WO2019/200563 WO 20191024
- 主分类号: B60W60/00
- IPC分类号: B60W60/00 ; B60W30/09 ; B60W30/095 ; B60W30/12 ; B60W30/14 ; G01C21/34 ; G08G1/16 ; G01C21/36
摘要:
In one embodiment, instead of using map data, a relative coordinate system is utilized to assist perception of the driving environment surrounding an ADV for some driving situations. One of such driving situations is driving on a highway. Typically, a highway has fewer intersections and exits. The relative coordinate system is utilized based on the relative lane configuration and relative obstacle information to control the ADV to simply follow the lane and avoid potential collision with any obstacles discovered within the road, without having to use map data. Once the relative lane configuration and obstacle information have been determined, regular path and speed planning and optimization can be performed to generate a trajectory to drive the ADV. Such a perception system is referred to as a relative perception system based on a relative coordinate system.