DECELERATION CURB-BASED DIRECTION CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

Title:

DECELERATION CURB-BASED DIRECTION CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

Document Type and Number:

WIPO Patent Application WO/2018/176313

Kind Code:

A1

Abstract:

A lane departure detection system (306) detects that an autonomous driving vehicle (ADV) is departing from the lane (500) in which the ADV is driving based on sensor data captured when the ADV contact a deceleration curb (502) such as a speed bump laid across the lane (500). When the ADV contacts the deceleration curb (502), the lane departure detection system (306) detects and calculates an angle (505) of a moving direction (504) of the ADV vs a longitudinal direction of the deceleration curb (502). Based on the angle (505), the system calculates how much the moving direction (504) of the ADV is off compared to a lane direction (503) of the lane. The lane direction (503) is typically substantially perpendicular to the longitudinal direction of the deceleration curb (502). A control command such as a speed control command and/or a steering control command is generated based on the angle (505) to correct the moving direction (504) of the ADV.

Inventors:

ZHU FAN (US)
KONG QI (US)
LUO QI (US)
YU XIANG (US)
HU SEN (US)
ZHU ZHENGUANG (CN)
FU XIAOXIN (CN)
HE JIARUI (CN)
LI HONGYE (CN)
PAN YUCHANG (CN)
XIA ZHONGPU (CN)
ZHAO CHUNMING (CN)
YANG GUANG (US)
WANG JINGAO (US)

Application Number:

PCT/CN2017/078760

Publication Date:

October 04, 2018

Filing Date:

March 30, 2017

Export Citation:

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Assignee:

BAIDU COM TIMES TECH BEIJING CO LTD (CN)
BAIDU USA LLC (US)

International Classes:

B60W30/12; B60W40/06

Foreign References:

CN1532101A	2004-09-29
CN105480295A	2016-04-13
CN102556059A	2012-07-11
CN106428007A	2017-02-22
JP2007230525A	2007-09-13
JP2008080936A	2008-04-10
EP1985827A1	2008-10-29

Other References: