An autonomous vehicle (AV) is automatically navigated within a driving lane. Lane line data is received from one or more sensors, such as one or more cameras. A first parametric curve can be matched to a location of a first lane line detected from the lane line data. A second parametric curve can be matched to a location of a second lane line detected from the lane line data. A center parametric curve can be then generated in the center of the first parametric curve and the second parametric curve. The center parametric curve is then sampled to generate a discrete vector of trajectory points along the center parametric curve. The AV is then navigated along the road based on the trajectory points.
自主驾驶车辆(AV)在行驶车道内自动导航。从一个或多个传感器,例如一个或多个照相机,接收车道线数据。第一参数曲线可与从车道线数据检测到的第一车道线的位置匹配。第二参数曲线可与从车道线数据检测到的第二车道线的位置匹配。然后,在第一参数曲线和第二参数曲线的中心生成中心参数曲线。然后,对中心参数曲线进行采样,以生成沿着中心参数曲线的轨迹点的离散矢量。然后基于轨迹点沿着道路导航AV。
LANE KEEP CONTROL OF AUTONOMOUS VEHICLE
自主车辆的车道保持控制
2022-01-14
Patent
Electronic Resource
Chinese
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / 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 / G06V |