Via a first processing thread, an ADV is controlled (701) according to a first trajectory that was generated based on a first reference line starting at a first location. Concurrently via a second processing thread, a second reference line is generated (702) based on a second location of the first trajectory that the ADV will likely reach within a predetermined period of time in future. The predetermined period of time is greater than or equals to an amount of time to generate a reference line for the ADV. The second reference line is generated while the ADV is moving according to the first trajectory and before reaching the second location. Subsequently, in response to determining that the ADV is within a predetermined proximity of the second location, a second trajectory is generated (703) based on the second reference line without having to calculate the second reference line at the second location.
複数のスレッドを使用して自動運転車両に用いられる基準線を生成するための方法及びシステム
2020-11-04
Patent
Elektronische Ressource
Japanisch
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |