A method efficiently determines whether a trajectory of an obstacle to an autonomous driving vehicle (ADV) will require navigation adjustment for the ADV. The trajectory of the obstacle is represented by an ordered plurality of points, {P0 . . . PM}, and a reference line of the ADV is represented by an ordered plurality of points, {R0 . . . RN}, N>M. If the obstacle and ADV are heading in the same direction, then, for a first point P0 on the obstacle trajectory, the ADV finds a point S0 in {R0 . . . RN} that is the least distance from P0 to the reference line. For each of the remaining obstacle points, Pi, the search for a least distance point, Si, is limited to the portion of the reference line Si−1 to RN. If the obstacle and ADV are heading in opposing directions, the search process can be performed from PM, toward P0, in a similar fashion.
Systems and methods for accelerated curve projection
2020-08-25
Patent
Elektronische Ressource
Englisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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