The invention relates to lane keeping for autonomous vehicles. A system for a lane keeping feature of a vehicle is provided. The lane keeping feature has a predefined safety requirement criterion forkeeping the vehicle within bounds while the lane keeping feature is active. The system comprises a road estimation module and a trajectory planning module. The road estimation module is configured toreceive sensor data comprising information about a surrounding environment of the vehicle, and to determine a drivable area based on the sensor data. The drivable area comprises a left boundary and aright boundary extending along a direction of travel of the vehicle, wherein each boundary comprises a plurality of points distributed along each boundary, each point being associated with a confidence level. The trajectory planning module is configured to receive the determined drivable area, and to determine a nominal trajectory for the vehicle based on the received drivable area. The trajectoryplanning module is further configured to determine a back-up stop trajectory for the vehicle based on the received drivable area.
本发明涉及用于自主车辆的车道保持。提供了一种用于车辆的车道保持特征的系统。车道保持特征具有用于在车道保持特征有效时使车辆保持在边界内的预定义的安全要求标准。该系统包括道路估计模块和轨迹规划模块。道路估计模块被配置为接收包括关于车辆的周围环境的信息的传感器数据,并且基于传感器数据确定可驾驶区域。可驾驶区域包括沿车辆行驶方向延伸的左边界和右边界,其中每条边界包括沿每条边界分布的多个点,每个点与置信度相关联。轨迹规划模块被配置为接收所确定的可驾驶区域,并且基于接收的可驾驶区域确定车辆的标称轨迹。轨迹规划模块进一步被配置为基于所接收的可驾驶区域确定车辆的备份停止轨迹。
Lane keeping for autonomous vehicles
用于自主车辆的车道保持
2021-03-05
Patent
Elektronische Ressource
Chinesisch
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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