JP6861238B2 - 自動運転車の車線変更軌跡を確定するための方法 - Google Patents
自動運転車の車線変更軌跡を確定するための方法 Download PDFInfo
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Description
R=X/Y=X/(T*V)。
S=R/A=X*(1/A)/(T*V)
Claims (18)
- 自動運転車を動作させるための機械実施方法であって、
自動運転車(ADV)の周囲の走行環境を記述する感知データに基いて、前記自動運転車を元車線から目標車線へ変更させる第一軌跡を確定するステップと、
前記元車線の車線配置と前記自動運転車の現在状態に基いて、車線変位補正を算出するステップであって、前記車線配置は、前記感知データに基いて確定されるものである、ステップと、
前記車線変位補正に基いて、少なくとも前記第一軌跡の起点を補正して第二軌跡を生成するステップと、
前記自動運転車の現在位置と前記第二軌跡の起点との差に基いてドリフトエラーを比較するステップと、
前記ドリフトエラーに基いて操舵制御指令を生成して前記自動運転車の進行方向を補正して前記元車線から前記目標車線へ変更するように前記自動運転車を制御するステップを含む、方法。 - 前記車線変位補正に基いて、少なくとも前記第一軌跡の起点を補正するステップは、前記車線変位補正に基いて、前記自動運転車の現在位置から横方向に前記第一軌跡の起点を変位するステップを含む請求項1に記載の方法。
- 前記操舵制御指令は、前記第一軌跡の起点の変位方向に向けて前記自動運転車の進行方向を変更するように配置される請求項1に記載の方法。
- 前記元車線の車線配置と前記自動運転車の現在状態に基づいて、車線変位補正を算出するステップは、
前記車線配置に基づいて前記元車線の車線幅Xを確定するステップと、
前記自動運転車の現在状態に基づいて前記自動運転車の現在速度Vを確定するステップと、
前記元車線の車線幅と前記自動運転車の現在速度に基づいて変位比を算出するステップを含み、
前記車線変位補正は前記変位比に基づいて算出される請求項1に記載の方法。 - 前記元車線から前記目標車線への車線変更を完成する予期時間Tを確定するステップと、
前記車線変更を完成する予期時間に基づいて、前記変位比を更に算出するステップを更に含む請求項4に記載の方法。 - 所定計画頻度Aに基づいて配置される複数の計画周期毎に前記第一軌跡を生成するように実行し、及び前記所定計画頻度に基づいて前記車線変位補正を更に算出する請求項5に記載の方法。
- 次式
S=X*(1/A)/(T*V)
に基づいて前記車線変位補正Sを算出する請求項6に記載の方法。 - 指令が記憶された非一時的な機械可読媒体であって、
前記指令がプロセッサにより実行されると、自動運転車を動作させる処理を前記プロセッサに実行させ、前記処理は、
自動運転車(ADV)の周囲の走行環境を記述する感知データに基いて、前記自動運転車を元車線から目標車線へ変更させる第一軌跡を確定するステップと、
前記元車線の車線配置と前記自動運転車の現在状態に基いて、車線変位補正を算出するステップであって、前記車線配置は、前記感知データに基いて確定されるものである、ステップと、
前記車線変位補正に基いて、少なくとも前記第一軌跡の起点を補正して第二軌跡を生成するステップと、
前記自動運転車の現在位置と前記第二軌跡の起点との差に基いてドリフトエラーを比較するステップと、
前記ドリフトエラーに基いて操舵制御指令を生成して前記自動運転車の進行方向を補正して前記元車線から前記目標車線へ変更するように前記自動運転車を制御するステップを含む、機械可読媒体。 - 前記車線変位補正に基いて、少なくとも前記第一軌跡の起点を補正するステップは、前記車線変位補正に基いて、前記自動運転車の現在位置から横方向に前記第一軌跡の起点を変位するステップを含む請求項8に記載の機械可読媒体。
- 前記操舵制御指令は、前記第一軌跡の起点の変位方向に向けて前記自動運転車の進行方向を変更するように配置される請求項8に記載の機械可読媒体。
- 前記元車線の車線配置と前記自動運転車の現在状態に基づいて、車線変位補正を算出するステップは、
前記車線配置に基づいて前記元車線の車線幅Xを確定するステップと、
前記自動運転車の現在状態に基づいて前記自動運転車の現在速度Vを確定するステップと、
前記元車線の車線幅と前記自動運転車の現在速度に基づいて変位比を算出するステップを含み、
前記車線変位補正は前記変位比に基づいて算出される請求項8に記載の機械可読媒体。 - 前記処理は、
前記元車線から前記目標車線への車線変更を完成する予期時間Tを確定するステップと、
前記車線変更を完成する予期時間に基づいて、前記変位比を更に算出するステップを更に含む請求項11に記載の機械可読媒体。 - 所定計画頻度Aに基づいて配置される複数の計画周期毎に前記第一軌跡を生成するように実行し、及び前記所定計画頻度に基づいて前記車線変位補正を更に算出する請求項12に記載の機械可読媒体。
- 次式
S=X*(1/A)/(T*V)
に基づいて前記車線変位補正Sを算出する請求項13に記載の機械可読媒体。 - データ処理システムであって、
プロセッサと、
前記プロセッサに接続されて指令を記憶するメモリと、を備え、
前記指令が前記プロセッサにより実行されると、前記プロセッサに処理を前記プロセッサに実行させ、前記処理は、
自動運転車(ADV)の周囲の走行環境を記述する感知データに基いて、前記自動運転車を元車線から目標車線へ変更させる第一軌跡を確定するステップと、
前記元車線の車線配置と前記自動運転車の現在状態に基いて、車線変位補正を算出するステップであって、前記車線配置は、前記感知データに基いて確定されるものである、ステップと、
前記車線変位補正に基いて、少なくとも前記第一軌跡の起点を補正して第二軌跡を生成するステップと、
前記自動運転車の現在位置と前記第二軌跡の起点との差に基いてドリフトエラーを比較するステップと、
前記ドリフトエラーに基いて操舵制御指令を生成して前記自動運転車の進行方向を補正して前記元車線から前記目標車線へ変更するように前記自動運転車を制御するステップを含む、システム。 - 前記車線変位補正に基いて、少なくとも前記第一軌跡の起点を補正するステップは、前記車線変位補正に基いて、前記自動運転車の現在位置から横方向に前記第一軌跡の起点を変位するステップを含む請求項15に記載のシステム。
- 前記操舵制御指令は、前記第一軌跡の起点の変位方向に向けて前記自動運転車の進行方向を変更するように配置される請求項15に記載のシステム。
- コンピュータプログラムであって、
前記コンピュータプログラムがプロセッサにより実行されると、請求項1ないし請求項7のいずれか一項に記載の方法を実現させるコンピュータプログラム。
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