일실시예에 따르면, 시스템은 ADV 주변의 복수의 장애물들을 포착하는 ADV의 이미지 캡처 장치로부터, ADV의 환경을 감지하는 캡처 이미지를 수신한다. 시스템은 ADV를 위한 도로 차선의 폭에 근거하여, ADV 주행 통과를 위한 통행 가능 차선을 나타내는 제1 터널을 생성한다. 시스템은 장애물의 위치에 근거하여, 장애물의 침입 정도에 따라 통행 가능 차선의 폭을 수정하는 하나 이상의 추가 터널을 생성한다. 시스템은 제1 터널 및 추가 터널에 근거하여 ADV의 궤도를 생성하여, 이 궤도에 따라 ADV를 제어하여 장애물을 회피하여 충돌을 방지한다.

    According to one embodiment, a system receives a captured image perceiving an environment of an autonomous driving vehicle (ADV) from an image capturing device of the ADV capturing a plurality of obstacles near the ADV. The system generates a first tunnel based on a width of a road lane for the ADV, where the first tunnel represents a passable lane for the ADV to travel through. The system generates one or more additional tunnels based on locations of the obstacles, where the one or more additional tunnels modify a width of the passable lane according to a level of invasiveness of the obstacles. The system generates a trajectory of the ADV based on the first and the additional tunnels to control the ADV according to the trajectory to navigate around the obstacles without collision.


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    Titel :

    TUNNEL-BASED PLANNING SYSTEM USED IN AUTONOMOUS VEHICLES


    Weitere Titelangaben:

    자율 주행 차량에 사용되는 터널에 기초한 계획 시스템


    Erscheinungsdatum :

    2021-11-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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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