To provide a planning method of a path which is effective and accurate in which drift of an ADV is considered.SOLUTION: The invention is configured to: identify 601 a current position of the ADV on the basis of sensor data provided from a plurality of sensors attached to the ADV, when planning a path of a present travel period with respect to the automatic driving vehicle (ADV); create 602 a path of the present travel period for driving the ADV for a prescribed period from the current position; calculate 603 a predicted position of the ADV on the basis of a previous path which is generated in a period of a previous travel period; calculate 604 a drift tolerance on the basis of the predicted position and current position of the ADV; correct 605 at least an original point of the path of the present travel period and create the corrected path; and then control 606 the ADV according to the corrected path.SELECTED DRAWING: Figure 6
【課題】ADVのドリフトを考慮した精密で有効な経路の計画方法を提供する。【解決手段】自動運転車(ADV)に対し現走行周期の経路を計画する時に、ADVに取り付けられた複数のセンサーから提供されたセンサーデータに基づき、ADVの現在位置を特定する601。現在位置からADVを所定の時間運転するための現走行周期の経路を生成する602。前の走行周期の期間で生成された前の経路に基づき、ADVの予期位置を計算する603。ADVの予期位置と現在位置に基づき、ドリフト誤差を計算する604。ドリフト誤差に基づき、少なくとも現走行周期の経路の起点を修正し、修正された経路を生成する605。そして、修正された経路に従ってADVを制御する606。【選択図】図6
METHOD OF DRIFT CORRECTION FOR PATH PLANNING OF AUTOMATIC DRIVING VEHICLE
自動運転車の経路計画用のドリフト補正の方法
2019-10-31
Patent
Electronic Resource
Japanese
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