公开(公告)号：US11367354B2

公开(公告)日：2022-06-21

申请号：US15542412

申请日：2017-06-22

申请人： APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

发明人： Jinghao Miao ,  Liyun Li ,  Zhongpu Xia

IPC分类号： G08G1/16 ,  G08G1/01 ,  G08G1/04 ,  G06K9/00 ,  G06K9/46 ,  G05D1/00 ,  G05D1/02 ,  G06F16/29 ,  G06V10/40 ,  G06V20/56 ,  G06V20/58 ,  G08G1/0962

摘要： In one embodiment, in response to perception data perceiving a driving environment surrounding an ADV, a map image of a map covering a location associated with the driving environment is obtained. An image recognition is performed on the map image to recognize one or more objects from the map image. An object may represent a particular road, a building structure (e.g., a parking lot, an intersection, or a roundabout). One or more features are extracted from the recognized objects, where the features may indicate or describe the traffic condition of the driving environment. Behaviors of one or more traffic participants perceived from the perception data are predicted based on the extracted features. A trajectory for controlling the ADV to navigate through the driving environment is planned based on the predicted behaviors of the traffic participants. A traffic participant can be a vehicle, a cyclist, or a pedestrian.

公开(公告)号：US11878716B2

公开(公告)日：2024-01-23

申请号：US17123651

申请日：2020-12-16

申请人： APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

发明人： Zhongpu Xia ,  Yaqin Chen ,  Yifeng Pan ,  Hongye Li

IPC分类号： B60W60/00 ,  B60W30/09 ,  B60W30/095 ,  B60W30/18 ,  B60W50/00

CPC分类号： B60W60/0015 ,  B60W30/09 ,  B60W30/0956 ,  B60W30/18163 ,  B60W50/0097 ,  B60W60/0027 ,  B60W30/18154 ,  B60W30/18159 ,  B60W2520/10 ,  B60W2554/404

摘要： The present application provides a method and apparatus for planning an autonomous vehicle, an electronic device and a storage medium, which relates to the field of autonomous driving. According to the technical solutions of the present application, time points of entering a vehicle-converging area can be accurately predicted according to traveling conditions of two parties, so that a driving behavior of the autonomous vehicle is controlled more accurately. The specific implementation is as follows: acquiring first traveling information of an autonomous vehicle; acquiring second traveling information of at least one obstacle vehicle; predicting a driving intention of the obstacle vehicle according to the acquired second traveling information of the obstacle vehicle; planning a vehicle-converging strategy for the autonomous vehicle according to the first traveling information and the driving intention of the obstacle vehicle; and controlling the autonomous vehicle to travel according to the vehicle-converging strategy.