To provide a navigation method, system, and recording medium for adjusting an autonomous driving vehicle.SOLUTION: 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 a plurality of ordered points {P... P}, and a reference line of the ADV is represented by a plurality of ordered points {R... R}, where N>M. If the obstacle and the ADV are travelling in the same direction, for a first point Pon the trajectory of the obstacle, the ADV finds a point Sin {R... R} that is the least distance from the Pto the reference line. For each point Pi of the remaining obstacle points, search for the least distance point Sis limited to a portion of the reference line Sto R. If the obstacle and the ADV are traveling in opposing directions, the search process can be performed from Ptoward Pin a similar fashion.SELECTED DRAWING: Figure 6C

    【課題】本願は、自動運転車を調整するナビゲーション方法、システム及び記憶媒体を提供する。【解決手段】前記方法は、自動運転車(ADV)の障害物の軌跡によりADVに対してナビゲーションの調整が請求されるか否かを有効的に確定する。障害物の軌跡は、複数の順序の点{P0..PM}で示され、且つ、ADVの参照線路は、複数の順序の点{R0..RN}で示され、ただし、N>Mである。障害物とADVとが同じ方向に進行していると、障害物の軌跡上の第一点P0に対して、ADVは、P0から参照線路まで最小距離になる点S0を{R0..RN}から捜しだす。残りの障害物の点における点Piのそれぞれに対して、最小距離の点Siに対する検索は、参照線路Si−1からRNまでの部分に制限される。障害物とADVとが反対方向に進行していると、当該検索プロセスは、類似した方式でPMからP0まで実行することができる。【選択図】図6C


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    Title :

    SYSTEM AND METHOD USED FOR ACCELERATED CURVE PROJECTION


    Additional title:

    加速カーブの投影に用いられるシステム及び方法


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

    Publication date :

    2019-08-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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



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