A system and method operate an autonomous vehicle. A sensor senses a road and an object. A processor determines, in a Cartesian reference frame, a representation of the road and a source point representative of the object, samples a first waypoint and a second waypoint from the representation of the road, determines a linear projection of the source point to a line connecting the first waypoint and the second waypoint, determines a first estimate of a longitudinal component of the source point in a road-based reference frame based on the linear projection, the first estimate being on a curve representing the road between the first waypoint and the second waypoint, determines a second estimate of the longitudinal component from the first estimate, determines a coordinate of the source point in the road-based reference frame from the second estimate and operates the vehicle with respect to the object using the coordinate.


    Access

    Download


    Export, share and cite



    Title :

    Efficient road coordinates transformations library


    Contributors:

    Publication date :

    2023-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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 / G06V



    EFFICIENT ROAD COORDINATES TRANSFORMATIONS LIBRARY

    RESHEF ROI / GOLDNER VLAD / SHAPHIROV YEVGENI | European Patent Office | 2022

    Free access

    Body-fitted coordinates systems transformations

    Mastin, C. W. / Thames, F. C. / Thompson, J. F. | NTRS | 1978


    Efficient road coordinate transformation library

    RESHEF RUSLAN / GORDNER VOLKER / SHAFIROV YURIY | European Patent Office | 2022

    Free access

    Antiknock Research Coordinates Laboratory and Road Tests

    Veal, C. B. / Best, H. W. / Campbell, J. M. et al. | SAE Technical Papers | 1933


    Extended Object Tracking in Curvilinear Road Coordinates for Autonomous Driving

    Dahal, Pragyan / Mentasti, Simone / Arrigoni, Stefano et al. | IEEE | 2023