A method for identifying roadway curvature that includes determining a range of interest and collecting shape points from a map database from a current position of the vehicle to an end of the range of interest that define the location of the roadway. The method converts the shape points from World Geodetic System 84 (WGS84) coordinates to UTM coordinates, and then fits a single set of polynomial equations to define a curve using the converted shape points. The method determines whether the single set of polynomial equations exceeds a predetermined curvature accuracy threshold, and if so, fits multiple sets of polynomial equations to multiple roadway segments over the range of interest using the converted shape points. The method then determines the roadway curvature at any roadway location using solutions to the multiple sets of polynomial equations.


    Access

    Download


    Export, share and cite



    Title :

    ACCURATE CURVATURE ESTIMATION ALGORITHM FOR PATH PLANNING OF AUTONOMOUS DRIVING VEHICLE


    Contributors:
    LEE JIN-WOO (author)

    Publication date :

    2016-01-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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





    LANE CHANGE PATH PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE

    LEE JIN-WOO | European Patent Office | 2015

    Free access

    LANE CHANGE PATH PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE

    JIN-WOO LEE | European Patent Office | 2016

    Free access

    Lane change path planning algorithm for autonomous driving vehicle

    LEE JIN-WOO | European Patent Office | 2016

    Free access