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Efficient road coordinate transformation library

A technology of roads and coordinates, applied in the direction of external conditions input parameters, instruments, control devices, etc., can solve the problem of expensive calculation of Frenet space conversion

Pending Publication Date: 2022-04-12
GM GLOBAL TECH OPERATIONS LLC
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  • Claims
  • Application Information

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Problems solved by technology

Transformation from Cartesian coordinate system to Frenet space can become computationally expensive if applied on a large scale

Method used

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  • Efficient road coordinate transformation library
  • Efficient road coordinate transformation library
  • Efficient road coordinate transformation library

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Embodiment Construction

[0018] The following description is merely exemplary in nature and is not intended to limit the disclosure, its application or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0019] According to an exemplary embodiment, figure 1 A vehicle 10 is shown. In the exemplary embodiment, vehicle 10 is a semi-autonomous or autonomous vehicle. In various embodiments, the vehicle 10 includes at least one driver assistance system for steering and accelerating / decelerating (eg, cruise control and lane centering) using information about the driving environment. While it is possible to disengage the driver from physically operating the vehicle 10 by simultaneously taking his or her hands off the steering wheel and feet off the pedals, the driver must be prepared to take control of the vehicle.

[0020] In general, trajectory planning system 100 determines a trajectory plan for automated drivi...

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Abstract

A system and method for operating an autonomous vehicle. A sensor senses a road and an object. A processor determines a representation of a road and a source point representing an object in a Cartesian reference frame, samples a first waypoint and a second waypoint from the representation of the road, determines a linear projection of the source point to a straight line connecting the first waypoint and the second waypoint, determines a first estimate of a longitudinal component of the source point in the road-based reference frame based on the linear projection, and determines a second estimate of a longitudinal component of the source point in the road-based reference frame based on the first estimate. A method for operating a vehicle includes receiving a first estimate of a longitudinal component located on a curve representing a road between a first waypoint and a second waypoint, determining a second estimate of the longitudinal component from the first estimate, determining coordinates of a source point in a road-based reference frame from the second estimate, and operating the vehicle with respect to an object using the coordinates.

Description

technical field [0001] The subject disclosure relates to autonomous vehicles, and more particularly to a system and method for efficiently projecting objects onto a road-based frame of reference. Background technique [0002] A partially or fully autonomous vehicle tracks objects in its environment and performs navigational maneuvers on those objects. Objects are sensed using sensors on the vehicle and mapped to a Cartesian coordinate system. However, for computational efficiency, it is desirable to perform calculations in a road-centric coordinate system (also called Frenet space) of constructive motion along roads, off-road paths, curves, or similar paths. The transformation from Cartesian coordinate system to Frenet space can become computationally expensive if applied on a large scale. Accordingly, it is desirable to provide a computationally efficient system and method for converting the coordinates of an object from a Cartesian to a road-centric coordinate system. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00B60W50/00
CPCB60W60/001B60W2554/801B60W2554/802B60W2552/30G06V20/588B60W40/072G06F18/22
Inventor R.雷谢夫V.戈德纳Y.沙菲罗夫
Owner GM GLOBAL TECH OPERATIONS LLC
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