Title:
OPTIMAL PLANNER SWITCH METHOD FOR THREE POINT TURN OF AUTONOMOUS DRIVING VEHICLES
Document Type and Number:
WIPO Patent Application WO/2020/132954
Kind Code:
A1
Abstract:
A three-point-turn is planned and executed in the operation of an autonomous driving vehicle (ADV). A candidate route from a start point and going through an end point is determined, the start point and the end point being in lanes associated with opposite travel directions. The candidate route is categorized into partially overlapping first, second, and third segments. A total cost associated with the candidate route is determined based at least in part on the first and second segments. Whether the total cost is below a threshold cost is determined. In response to a determination that the total cost is below the threshold cost, the three-point-turn is planned based on the candidate route. Further, driving signals are generated based at least in part on the planned three-point-turn to control operations of the ADV.
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Inventors:
MA LIN (CN)
ZHU FAN (US)
XU XIN (CN)
ZHU FAN (US)
XU XIN (CN)
Application Number:
PCT/CN2018/123953
Publication Date:
July 02, 2020
Filing Date:
December 26, 2018
Export Citation:
Assignee:
BAIDU COM TIMES TECH BEIJING CO LTD (CN)
BAIDU USA LLC (US)
BAIDU USA LLC (US)
International Classes:
G05D1/02
Domestic Patent References:
| WO2017123233A1 | 2017-07-20 |
Foreign References:
| CN105573323A | 2016-05-11 | |||
| CN108831177A | 2018-11-16 | |||
| CN108459588A | 2018-08-28 | |||
| CN107813820A | 2018-03-20 | |||
| US20180336007A1 | 2018-11-22 |
Other References:
KUWATA, YOSHIAKI ET AL.,: "Real-Time Motion Planning With Applications to Autonomous Urban Driving,", IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,, vol. 17, no. 5, 30 September 2009 (2009-09-30), XP011271013, DOI: 20190823090542X
See also references of EP 3698228A4
See also references of EP 3698228A4
Attorney, Agent or Firm:
INSIGHT INTELLECTUAL PROPERTY LIMITED (CN)
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