Autonomous driving using a standard navigation map and lane configuration determined based on prior trajectories of vehicles
A technology for automatic driving and vehicle driving, applied in specific environment-based services, vehicle position/route/altitude control, communication between vehicles and infrastructure, etc., can solve the problem of unavailable HD maps, expensive generation and maintenance of HD maps And other issues
Active Publication Date: 2020-04-24
BAIDU USA LLC
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However, such HD maps may not be available some of the time, and generating and maintaining HD maps is usually expensive
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[0031] Various embodiments and aspects of the disclosure 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 disclosure and should not be construed as limiting the present disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosure.
[0032] 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 disclosure. The appearances of the phrase "in one embodiment" in various places in this specification are not necessarily all referring to the s...
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In one embodiment, perception data is received from a number of autonomous driving vehicles (ADVs) over a network. The perception data includes information describing a set of trajectories that a number of vehicles having driven through a road segment of a road and perceived by one or more ADVs using their respective sensors driving on the same road segment. In response to the perception data, ananalysis is performed on the perception data, i.e., the trajectories, to determine one or more lanes within the road segment. For each of the lanes, a lane reference line associated with the lane is calculated based on the trajectories within the corresponding lane. The lane metadata describing the lane reference lines for the one or more lanes are stored in a lane configuration data structure such as a database. The lane configuration database can then be utilized for autonomous driving at real-time subsequently without having to use a high definition map.
Description
technical field [0001] Embodiments of the present disclosure generally relate to operating an autonomous vehicle. More specifically, embodiments of the present disclosure relate to automated driving using standard navigation maps with lane configurations determined based on the vehicle's previous trajectory. 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 situations without any passengers. [0003] Motion planning and control are key operations in autonomous driving. Typically, planning for autonomous driving relies heavily on map information to guide an autonomous vehicle (ADV) without user intervention. Regular maps such as Google or Baidu maps refer to navigation maps that ...
Claims
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IPC IPC(8): G05D1/02G01C21/34
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0246G05D1/0255G05D1/0257G05D1/0259G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/028G05D1/0276G01C21/3415G01C21/3484G01C21/3492H04W4/44B60W2556/40G06V20/588G05D1/021G05D1/0088G05D1/0044H04W4/40
Inventor 蒋一飞张亮亮李栋陶佳鸣胡江滔
Owner BAIDU USA LLC