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Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles

A technology for autonomous driving and vehicles, applied in vehicle position/route/altitude control, motor vehicles, vehicle components, etc., to solve problems such as undetected ADV, difficulty in detection, inaccurate perception of autonomous driving or inaccurate planning

Active Publication Date: 2019-01-11
BAIDU COM TIMES TECH (BEIJING) CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, perception or planning for autonomous driving may be inaccurate and may not detect that the ADV is not following the lane correctly
Detecting this is difficult, especially when the lane is not painted with enough contrast

Method used

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  • Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles
  • Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles
  • Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles

Examples

Experimental program
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Embodiment Construction

[0020] 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.

[0021] 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

In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The systemdetects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. The system calculates an angle between a moving direction of the ADV and a lane direction of the lanebased on the time difference between the first point in time and the second point in time in view of a current speed of the ADV. The system then generates a control command based on the angle to adjust the moving direction of the ADV in order to prevent the ADV from further drifting off the lane direction of the lane.

Description

technical field [0001] Embodiments of the invention generally relate to operating autonomous vehicles. More specifically, embodiments of the present invention relate to lane departure detection based on lane edge sensing. Background technique [0002] Vehicles operating in an autonomous 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 drive with minimal human interaction or in some cases without any passengers. [0003] In autonomous driving, motion planning and control are crucial operations. It is important for an autonomous vehicle (ADV) to travel and stay within the lane in which the ADV is traveling. However, the perception or planning of autonomous driving may be inaccurate and the ADV may not be detected to be following the lane correctly. Detecting this condition is difficult, esp...

Claims

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Application Information

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IPC IPC(8): B62D6/00
CPCG05D1/0212G05D1/0246B60W60/0018B60W50/02B60W2050/0215B60W30/12B60W2554/60B60W2420/40B60W2422/70B60W2530/20B60W40/105B60W40/02B60W2520/10B60Y2400/306B60W2520/06B60W2050/0005B60W2420/403G05D1/0088
Inventor 朱帆孔旗罗琦于翔胡森朱振广付骁鑫何家瑞李洪业潘余昌夏中谱赵春明杨光王京傲
Owner BAIDU COM TIMES TECH (BEIJING) CO LTD
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