Corner negotiation method for self-driving vehicles that do not require maps and positioning

摘要

The ADV senses the driving environment around the ADV, including, for example, sensing and recognizing corners where the ADV may turn, based on sensor data acquired from various sensors attached to the ADV. .. Based on the sensing data of the driving environment, a feature set showing the characteristics of the approach point of the corner where the ADV turns is extracted. The corner entry point is determined based on the characteristics of the corner. Perform a lookup operation on the corner mapping table to find the mapping entry that corresponds to the entry point based on the entry point. Then, the turning radius is acquired from the corresponding entry in the corner mapping table. In addition, a trajectory (eg, steering angle) is planned using the turning radius obtained from the corner mapping table in order to drive the ADV to turn the corner. [Selection diagram] FIG. 7