PROBLEM TO BE SOLVED: To improve stability of autonomous driving of a vehicle.SOLUTION: In one embodiment, perception information perceiving a driving scenario of an autonomous driving vehicle (ADV) is received. A path from a first location to a second location is planned and determined according to a driving scenario obtained on the basis of the perception information. A tolerance area along the determined path is determined on the basis of the perception information. The autonomous driving vehicle is driven within the tolerance area according to the path. No lateral error to be corrected is considered to have occurred when the autonomous driving vehicle moves within the tolerance area. A lateral error to be corrected is considered to have occurred only when the autonomous driving vehicle moves outside the tolerance area.SELECTED DRAWING: Figure 6
【課題】本発明の実施形態は車両の自律走行の安定性を向上させることに関する。【解決手段】一実施形態において、自律走行車(ADV)の走行シーンを感知する感知情報を受信する。感知情報に基づいて取得した走行シーンに応じて、第1位置から第2位置までのルートを計画して決定する。感知情報に基づいて、決定されたルートに沿う許容領域を決定する。自律走行車はルートに基づいて許容領域内で走行する。自律走行車は許容領域内で移動すると、横方向誤差生が発生しない。自律走行車が許容領域外で移動する場合のみに横方向誤差が発生するとみなされる。【選択図】図6
METHOD AND SYSTEM FOR IMPROVING STABILITY OF AUTONOMOUS DRIVING VEHICLES
自律走行車の安定性を向上させるための方法及びシステム
2018-07-12
Patent
Elektronische Ressource
Japanisch
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