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System and method for trajectory re-planning of autonomous driving vehicles

A technology for automatic driving and re-planning, applied in the direction of motor vehicles, control/regulation systems, vehicle position/route/altitude control, etc., and can solve problems such as re-planning of routes or trajectories

Active Publication Date: 2018-11-02
BAIDU USA LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to various factors of the driving environment, sometimes the ADV may not be able to follow the planned route or trajectory as expected
In this case, re-planning of the route or trajectory may be required

Method used

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  • System and method for trajectory re-planning of autonomous driving vehicles
  • System and method for trajectory re-planning of autonomous driving vehicles
  • System and method for trajectory re-planning of autonomous driving vehicles

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Embodiment Construction

[0017] Various embodiments and aspects of the invention will be described with reference to details discussed below and illustrated in the accompanying drawings. The following description and drawings are illustrative of the present invention and should not be construed as limiting the present invention. Numerous specific details are described in order to provide a thorough understanding of various embodiments of the invention. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the invention.

[0018] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of the phrase "in one embodiment" in various places in this specification are not necessarily all referring to the same embodimen...

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PUM

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Abstract

According to one embodiment, a replanning determination mechanism is utilized to determine whether an ADV needs replanning of the route or trajectory based on the driving status and conditions of theADV at the point in time, such as, for example, the difference between the planned position and the actual position, difference between a current speed and a target speed, and a difference between a current heading direction and a target heading direction. Such differences as a whole represents an error between the planning and the actual response from the ADV. If the error is greater than a predetermined threshold, replanning may be performed; otherwise, a regular planning is performed.

Description

technical field [0001] Embodiments of the invention generally relate to operating an autonomous vehicle. More specifically, embodiments of the invention relate to trajectory re-planning for autonomous vehicles. Background technique [0002] Vehicles operating in an autonomous driving mode (eg, driverless) can relieve the occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to travel with minimal human interaction or in some situations without any passengers. [0003] Motion planning and control are key operations for autonomous driving. When planning the operation of an autonomous vehicle (ADV), the goal is to plan a route or trajectory and control the ADV as close as possible to the planned route or trajectory. However, due to various factors of the driving environment, sometimes the ADV may not be able to follow the planned route o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0212G01C21/3415
Inventor 朱帆
Owner BAIDU USA LLC