To provide a computer-implemented method for generating reference lines for operating an autonomous driving vehicle.SOLUTION: Via a first processing thread, an autonomous driving vehicle (ADV) is controlled according to a first trajectory that is generated on the basis of a first reference line starting from a first location. Concurrently via a second processing thread, a second reference line is generated on the basis of 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 necessary to generate a reference line used 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 range of the second location, a second trajectory is generated on the basis of the second reference line without having to calculate the second reference line at the second location.SELECTED DRAWING: Figure 7

    【課題】自動運転車両を動作させるための基準線を生成するコンピュータ実施方法を提供する。【解決手段】第1処理スレッドを介して、第1位置から始まる第1基準線に基づいて生成された第1軌跡に従って、ADVを制御する。同時に、第2処理スレッドを介して、ADVが将来の所定期間内に到達可能な第1軌跡の第2位置に基づいて、第2基準線を生成する。当該所定の期間は、ADVに用いられる基準線の生成に必要な時間の量以上となる。ADVが第1軌跡に従って移動し且つ第2位置に到達する前に、第2基準線を生成する。その後、ADVが第2位置の所定の近接領域内にあると確定されたことに応答し、第2位置で第2基準線を計算する必要なしに、第2基準線に基づいて第2軌跡を生成する。【選択図】図7


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    Title :

    METHOD AND SYSTEM FOR GENERATING REFERENCE LINES USED FOR AUTONOMOUS DRIVING VEHICLES USING MULTIPLE THREADS


    Additional title:

    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


    Contributors:
    LI DONG (author) / ZHANG LIANGLIANG (author) / ZHANG YAJIA (author) / JIANG YIFEI (author) / FAN HAOYANG (author) / HU JIANGTAO (author)

    Publication date :

    2019-08-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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



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