JP7229278B2 - 経路計画のための二次計画法に基づき、片側に寄せる方法 - Google Patents
経路計画のための二次計画法に基づき、片側に寄せる方法 Download PDFInfo
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Description
l(s) = p0+p1s+p2s2+…+pnsn
のように1次元であってもよい。
ここで、s, lは、n次の多項式に関するステーション-横方向1次元(s, l)幾何座標を表し、p0..n は、解くべき1次元多項式の係数である。例えば、同次多項式関数に関してnは5であってもよい。
Claims (16)
- 自律運転車両(ADV) を運転するためにコンピュータが実行する方法であって、
ADV を車線の片側の目的地点で片側に寄せる要求に応じて、第1のセグメント、第2のセグメント及び移行点を含む経路を計画し、
計画された経路に従って、前記ADV を前記目的地点まで片側に寄せるように制御し、
前記経路を計画する際、
前記目的地点までの距離及び前記車線の片側の境界までの所定の距離の内の少なくとも1つに基づき、前記移行点を決定し、
二次計画法(QP)最適化を使用して、出発点から前記移行点までの前記第1のセグメントを生成し、
前記第2のセグメントと前記境界との間の距離を所定の距離閾値より小さくするように、前記車線の片側の境界の形状に基づき、前記移行点から前記目的地点までの前記第2のセグメントを生成することを特徴とする方法。 - 前記QP最適化を使用して前記出発点から前記移行点までの前記第1のセグメントを生成する際、前記車線の片側の境界に基づき、第1の制約を決定することを特徴とする請求項1に記載の方法。
- 前記QP最適化を使用して前記出発点から前記移行点までの前記第1のセグメントを生成する際、第2の制約を決定することを特徴とする請求項2に記載の方法。
- 前記QP最適化は費用関数に基づいており、計画された経路と基準線との距離及び計画された経路の平滑さの内の少なくとも1つに基づき、前記費用関数を決定することを特徴とする請求項1に記載の方法。
- 前記境界の形状に基づき、前記移行点から前記目的地点までの前記第2のセグメントを生成する際、前記境界の形状が直線で平滑なラインの形状であるか否かを決定することを特徴とする請求項1に記載の方法。
- 前記境界の形状に基づき、前記移行点から前記目的地点までの前記第2のセグメントを生成する際、更に
前記境界の形状が直線で平滑なラインの形状であると決定し、
前記境界の形状を使用して前記第2のセグメントを生成することを特徴とする請求項5に記載の方法。 - 前記境界の形状に基づき、前記移行点から前記目的地点までの前記第2のセグメントを生成する際、更に
前記境界の形状が直線で平滑なラインの形状ではないと決定し、
第2のQP最適化を使用して前記第2のセグメントを生成することを特徴とする請求項5に記載の方法。 - 命令が記憶されている非一時的な機械可読媒体であって、
前記命令は、プロセッサによって実行されるとき、前記プロセッサに、
ADV を車線の片側の目的地点で片側に寄せる要求に応じて、第1のセグメント、第2のセグメント及び移行点を含む経路を計画させ、
計画された経路に従って、前記ADV を前記目的地点まで片側に寄せるように制御させ、
前記経路を計画させる際、
前記目的地点までの距離及び前記車線の片側の境界までの所定の距離の内の少なくとも1つに基づき、前記移行点を決定させ、
二次計画法(QP)最適化を使用して出発点から前記移行点までの前記第1のセグメントを生成させ、
前記第2のセグメントと前記境界との間の距離を所定の距離閾値より小さくするように、前記境界の形状に基づき、前記移行点から前記目的地点までの第2のセグメントを生成させることを特徴とする機械可読媒体。 - 前記QP最適化を使用して前記出発点から前記移行点までの前記第1のセグメントを生成させる際、前記境界に基づき第1の制約を決定させることを特徴とする請求項8に記載の機械可読媒体。
- 前記QP最適化を使用して前記出発点から前記移行点までの前記第1のセグメントを生成させる際、第2の制約を決定させることを特徴とする請求項9に記載の機械可読媒体。
- 前記QP最適化は費用関数に基づいており、計画された経路と基準線との距離及び計画された経路の平滑さの内の少なくとも1つに基づき、前記費用関数を決定させることを特徴とする請求項8に記載の機械可読媒体。
- 前記境界の形状に基づき、前記移行点から前記目的地点までの前記第2のセグメントを生成させる際、前記境界の形状が直線で平滑なラインの形状であるか否かを決定させることを特徴とする請求項8に記載の機械可読媒体。
- 前記境界の形状に基づき、前記移行点から前記目的地点までの前記第2のセグメントを生成させる際、更に
前記境界の形状が直線で平滑なラインの形状であると決定させ、
前記境界の形状を使用して前記第2のセグメントを生成させることを特徴とする請求項12に記載の機械可読媒体。 - 前記境界の形状に基づき、前記移行点から前記目的地点までの前記第2のセグメントを生成させる際、更に
前記境界の形状が直線で平滑なラインの形状ではないと決定させ、
第2のQP最適化を使用して前記第2のセグメントを生成させることを特徴とする請求項12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、
前記プロセッサに結合されて命令を記憶するメモリと
を備えており、
前記命令は、前記プロセッサによって実行されるとき、前記プロセッサに請求項1~7のいずれか1つに記載の方法を実行させることを特徴とするデータ処理システム。 - コンピュータ上で動作しているとき、請求項1~7のいずれか1つに記載の方法を前記コンピュータに実行させるためのコンピュータプログラム。
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PCT/CN2020/084257 WO2021203426A1 (en) | 2020-04-10 | 2020-04-10 | Pull over method based on quadratic programming for path planning |
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JP2017210234A (ja) | 2016-05-27 | 2017-11-30 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh | 少なくとも一時的に走行ルート上を自動誘導される自動車の自動的停車のための装置及び方法 |
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US20210316749A1 (en) | 2021-10-14 |
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