The invention relates to an accurate curvature estimation algorithm for path planning of autonomous driving vehicle and provides a method for identifying roadway curvature. The method includes determining a range of interest and collecting shape points from a map database from a current position of the vehicle to an end of the range of interest that defines the location of the roadway. The method converts the shape points from World Geodetic System 84 (WGS84) coordinates to UTM coordinates, and then fits a single set of polynomial equations to define a curve using the converted shape points. The method determines whether the single set of polynomial equations exceeds a predetermined curvature accuracy threshold, and if so, fits multiple sets of polynomial equations to multiple roadway segments over the range of interest using the converted shape points. The method then determines the roadway curvature at any roadway location using solutions to the multiple sets of polynomial equations.


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    Titel :

    Accurate curvature estimation algorithm for path planning of autonomous driving vehicle


    Beteiligte:
    LEE JIN-WOO (Autor:in)

    Erscheinungsdatum :

    27.01.2016


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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



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