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Title:
MAP-LESS AND LOCALIZATION-LESS LANE FOLLOWING METHOD FOR AUTONOMOUS DRIVING OF AUTONOMOUS DRIVING VEHICLES ON HIGHWAY
Document Type and Number:
WIPO Patent Application WO/2019/200563
Kind Code:
A1
Abstract:
Instead of using map data, a relative coordinate system is utilized to assist perception of the driving environment surrounding an ADV for some driving situations. One of such driving situations is driving on a highway. Typically, a highway has fewer intersections and exits. The relative coordinate system is utilized based on the relative lane configuration and relative obstacle information to control the ADV to simply follow the lane and avoid potential collision with any obstacles discovered within the road, without having to use map data. Once the relative lane configuration and obstacle information have been determined, regular path and speed planning and optimization can be performed to generate a trajectory to drive the ADV. Such a perception system is referred to as a relative perception system based on a relative coordinate system.

Inventors:
ZHU FAN (US)
KONG QI (US)
PAN YUCHANG (CN)
JIANG FEIYI (CN)
XU XIN (CN)
FU XIAOXIN (CN)
XIA ZHONGPU (CN)
ZHAO CHUNMING (CN)
ZHANG LIANGLIANG (US)
ZHU WEICHENG (US)
ZHUANG LI (US)
FAN HAOYANG (US)
JIANG HUI (CN)
Application Number:
PCT/CN2018/083557
Publication Date:
October 24, 2019
Filing Date:
April 18, 2018
Export Citation:
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Assignee:
BAIDU COM TIMES TECH BEIJING CO LTD (CN)
BAIDU USA LLC (US)
International Classes:
B60Q1/26
Foreign References:
US20150336502A12015-11-26
CN105928531A2016-09-07
US20180095466A12018-04-05
US20170240096A12017-08-24
Attorney, Agent or Firm:
INSIGHT INTELLECTUAL PROPERTY LIMITED (CN)
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