JP2019128962A - 自動運転車のための経路及び速度の最適化フォールバックメカニズム[path and speed optimization fallback mechanism for autonomous vehicles] - Google Patents
自動運転車のための経路及び速度の最適化フォールバックメカニズム[path and speed optimization fallback mechanism for autonomous vehicles] Download PDFInfo
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Abstract
Description
(式中、s、lは、n次までの多項式の測点−横方向の一次元幾何学座標(s,l)を表し、p0、…、pnは、解かれる多項式の係数である。)
Claims (21)
- 自動運転車(ADV)のための走行軌跡を生成するコンピュータ実施方法であって、
地図及びルート情報に基づいて第1の軌跡を計算するステップと、
前記第1の軌跡と、交通ルールと、前記自動運転車によって感知された障害物を記述する障害物情報とに基づいて、経路最適化を実行するステップであって、
前記第1の軌跡上でスプライン曲線に基づく経路最適化を実行することと、
前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することと、
前記スプライン曲線に基づく経路最適化の結果が前記第1の所定の条件を満たさないと判定されたことに応じて、前記第1の軌跡上で有限要素に基づく経路最適化を実行することと、
前記経路最適化の結果に基づいて速度最適化を実行することと、
前記経路最適化及び前記速度最適化に基づいて、前記自動運転車を制御するための第2の軌跡を生成することと、を含むステップと、
を含む、
コンピュータ実施方法。 - 速度最適化を実行することは、
最適化された経路に基づいて、前記第1の軌跡上でスプライン曲線に基づく速度最適化を実行することと、
前記スプライン曲線に基づく速度最適化の結果が第2の所定の条件を満たすか否かを判定することと、
前記スプライン曲線に基づく速度最適化の前記結果が前記第2の所定の条件を満たさないと判定されたことに応じて、前記最適化された経路に従って前記第1の軌跡上で有限要素に基づく速度最適化を実行することと、を含む、
請求項1に記載のコンピュータ実施方法。 - 前記自動運転車の初期速度及び制限速度に基づいて前記速度最適化を実行する、
請求項2に記載のコンピュータ実施方法。 - 前記最適化された経路には径方向経路が含まれ、且つ前記径方向経路の半径に基づいて前記速度最適化を実行する、
請求項3に記載のコンピュータ実施方法。 - 前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することは、前記スプライン曲線に基づく経路最適化の反復計算の数が所定の数を超えるか否かを判定することを含む、
請求項1に記載のコンピュータ実施方法。 - 前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することは、前記スプライン曲線に基づく経路最適化にかかる時間が所定の期間を超えるか否かを判定することを含む、
請求項1に記載のコンピュータ実施方法。 - 有限要素に基づく経路最適化を実行することは、
前記第1の軌跡を複数の経路区間に分割することと、
前記複数の経路区間における隣接経路区間の間の不連続性を最小化することと、を含む、
請求項1に記載のコンピュータ実施方法。 - 指令が記憶された非一時的な機械可読媒体であって、
前記指令が一つ以上のプロセッサによって実行されるとき、前記一つ以上のプロセッサに動作を実行させ、前記動作は、
地図及びルート情報に基づいて第1の軌跡を計算するステップと、
前記第1の軌跡と、交通ルールと、前記自動運転車によって感知された障害物を記述する障害物情報とに基づいて、経路最適化を実行するステップであって、
前記第1の軌跡上でスプライン曲線に基づく経路最適化を実行することと、
前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することと、
前記スプライン曲線に基づく経路最適化の結果が前記第1の所定の条件を満たさないと判定されたことに応じて、前記第1の軌跡上で有限要素に基づく経路最適化を実行することと、
前記経路最適化の結果に基づいて速度最適化を実行することと、
前記経路最適化及び前記速度最適化に基づいて、前記自動運転車を制御するための第2の軌跡を生成することと、を含むステップと、
を含む、
非一時的な機械可読媒体。 - 速度最適化を実行することは、
最適化された経路に基づいて、前記第1の軌跡上でスプライン曲線に基づく速度最適化を実行することと、
前記スプライン曲線に基づく速度最適化の結果が第2の所定の条件を満たすか否かを判定することと、
前記スプライン曲線に基づく速度最適化の前記結果が前記第2の所定の条件を満たさないと判定されたことに応じて、前記最適化された経路に従って前記第1の軌跡上で有限要素に基づく速度最適化を実行することと、を含む、
請求項8に記載の非一時的な機械可読媒体。 - 前記自動運転車の初期速度及び制限速度に基づいて前記速度最適化を実行する、
請求項9に記載の非一時的な機械可読媒体。 - 前記最適化された経路には径方向経路が含まれ、且つ前記径方向経路の半径に基づいて前記速度最適化を実行する、
請求項10に記載の非一時的な機械可読媒体。 - 前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することは、前記スプライン曲線に基づく経路最適化の反復計算の数が所定の数を超えるか否かを判定することを含む、
請求項8に記載の非一時的な機械可読媒体。 - 前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することは、前記スプライン曲線に基づく経路最適化にかかる時間が所定の期間を超えるか否かを判定することを含む、
請求項8に記載の非一時的な機械可読媒体。 - 有限要素に基づく経路最適化を実行することは、
前記第1の軌跡を複数の経路区間に分割することと、
前記複数の経路区間における隣接経路区間の間の不連続性を最小化することと、を含む、
請求項8に記載の非一時的な機械可読媒体。 - データ処理システムであって、
一つ以上のプロセッサと、
前記一つ以上のプロセッサに接続され指令が記憶されているメモリであって、前記指令が前記一つ以上のプロセッサによって実行されるとき、前記一つ以上のプロセッサに動作を実行させるメモリと、を備え、
前記動作は、
地図及びルート情報に基づいて第1の軌跡を計算するステップと、
前記第1の軌跡と、交通ルールと、前記自動運転車によって感知された障害物を記述する障害物情報とに基づいて、経路最適化を実行するステップであって、
前記第1の軌跡上でスプライン曲線に基づく経路最適化を実行することと、
前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することと、
前記スプライン曲線に基づく経路最適化の結果が前記第1の所定の条件を満たさないと判定されたことに応じて、前記第1の軌跡上で有限要素に基づく経路最適化を実行することと、
前記経路最適化の結果に基づいて速度最適化を実行することと、
前記経路最適化及び前記速度最適化に基づいて、前記自動運転車を制御するための第2の軌跡を生成することと、を含むステップと、
を含む、
データ処理システム。 - 速度最適化を実行することは、
最適化された経路に基づいて、前記第1の軌跡上でスプライン曲線に基づく速度最適化を実行することと、
前記スプライン曲線に基づく速度最適化の結果が第2の所定の条件を満たすか否かを判定することと、
前記スプライン曲線に基づく速度最適化の前記結果が前記第2の所定の条件を満たさないと判定されたことに応じて、前記最適化された経路に従って前記第1の軌跡上で有限要素に基づく速度最適化を実行することと、を含む、
請求項15に記載のシステム。 - 前記自動運転車の初期速度及び制限速度に基づいて前記速度最適化を実行する、
請求項16に記載のシステム。 - 前記最適化された経路には径方向経路が含まれ、且つ前記径方向経路の半径に基づいて前記速度最適化を実行する、
請求項17に記載のシステム。 - 前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することは、前記スプライン曲線に基づく経路最適化の反復計算の数が所定の数を超えるか否かを判定することを含む、
請求項15に記載のシステム。 - 前記スプライン曲線に基づく経路最適化の結果が第1の所定の条件を満たすか否かを判定することは、前記スプライン曲線に基づく経路最適化にかかる時間が所定の期間を超えるか否かを判定することを含む、
請求項15に記載のシステム。 - 有限要素に基づく経路最適化を実行することは、
前記第1の軌跡を複数の経路区間に分割することと、
前記複数の経路区間における隣接経路区間の間の不連続性を最小化することと、を含む、
請求項15に記載のシステム。
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KR20210101172A (ko) * | 2020-11-06 | 2021-08-18 | 바이두 온라인 네트웍 테크놀러지 (베이징) 캄파니 리미티드 | 자율 주행을 위한 속도 계획 방법, 장치, 설비, 매체 및 차량 |
JP2022075526A (ja) * | 2020-11-06 | 2022-05-18 | バイドゥ オンライン ネットワーク テクノロジー(ペキン) カンパニー リミテッド | 自動運転のための速度計画方法、装置、デバイス、媒体及び車両 |
KR102566603B1 (ko) | 2020-11-06 | 2023-08-14 | 바이두 온라인 네트웍 테크놀러지 (베이징) 캄파니 리미티드 | 자율 주행을 위한 속도 계획 방법, 장치, 설비, 매체 및 차량 |
JP7372296B2 (ja) | 2020-11-06 | 2023-10-31 | バイドゥ オンライン ネットワーク テクノロジー(ペキン) カンパニー リミテッド | 自動運転のための速度計画方法、装置、デバイス、媒体及び車両 |
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CN110083149A (zh) | 2019-08-02 |
US20190235516A1 (en) | 2019-08-01 |
KR102099152B1 (ko) | 2020-07-06 |
CN110083149B (zh) | 2022-05-13 |
US10816977B2 (en) | 2020-10-27 |
KR20190095883A (ko) | 2019-08-16 |
EP3517893A1 (en) | 2019-07-31 |
JP6845874B2 (ja) | 2021-03-24 |
EP3517893B1 (en) | 2020-11-18 |
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