Method for preprocessing road data, self-driving road vehicle and control method thereof
A road data and preprocessing technology, applied in the direction of vehicle position/route/height control, control devices, vehicle components, etc., can solve the problems of sensor data limit, incomplete solution, increase of vehicle cost and complexity, etc.
Active Publication Date: 2019-02-05
阿什尔有限公司
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Problems solved by technology
Some relevant information sources may be outside the field of view of these sensors, some information (e.g., legal information) may not be subject to extraction from sensed data, and may have practical implications for the amount of sensor data that can be captured and processed in real time. limit
Although some of these problems can be eliminated with more complex and powerful sensors and additional processing power, this does not completely solve the problems and also increases vehicle cost and complexity
Method used
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[0034] The type of road model described herein is called an "attributed road trajectory". As used herein, the term "attributed road trajectory" refers to a series of three-dimensional coordinates in the ground coordinate system, each three-dimensional coordinate describes the ground position and height and also has a set of one or more road attributes, the one or multiple road attributes with respective attribute values. Coordinates can be represented in a variety of ways. For example, spherical coordinates (eg, latitude / longitude / altitude) may be used, or (x,y,z) values in a Cartesian ground coordinate system may be used. The attribute values are derived from the legal, physical and navigational properties of the road and the objects that exist along the road, as described in more detail below. A single coordinate triplet in an attributed road track and its attribute value is referred to herein as an "attributed road track point".
[0035] The attributed road track poi...
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The present invention relates to attributed road trajectories for self-driving vehicles. An attributed road trajectory comprises at least one ordered series of attributed road trajectory points spaced along a curve defined in a ground coordinate system and tracking a real Physical features along the road for the world road segment. Any attributed road trajectory point on the curve passes a predetermined proximity test for proximity to a point cloud point identified as representing part of a physical feature along the road. Each attributed road track point has at least one attribute value representing a characteristic of the real-world road segment at a location on the real-world road segment spatially associated with the attributed road track point. The control system of the self-driving road vehicle can use the attribute value to adjust the control of the self-driving road vehicle based on the sensor-independent road data (eg, when the position of the attributed road track point is outside the range of the sensor).
Description
technical field [0001] The present invention relates to road models, and more particularly, to the generation of attributed road trajectories for self-driving and assisted-driving road vehicles. Background technique [0002] A self-driving road vehicle is capable of driving autonomously on a road without human intervention, and is capable of at least autonomously maintaining a lane / road position while avoiding a collision. In some cases, self-driving road vehicles can also navigate independently, without human intervention, along a series of roads from an initial location to a destination; these types of self-driving road vehicles are referred to as "autonomous road vehicles". In other cases, although self-driving road vehicles can autonomously maintain lane / road position while avoiding collisions and can also autonomously perform some additional driving tasks, the navigation task must be performed by a human operator, hence the term "Assisted Driving in Road Vehicles". As...
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IPC IPC(8): G01C21/34
CPCG01C21/343G06V20/56G05D1/0212B60W40/072B60W2552/30B60W2720/24G01C21/30B60W2710/20
Inventor 理查德·詹姆斯·波洛克
Owner 阿什尔有限公司