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Corner negotiation method for self-driving vehicles that do not require maps and positioning
Corner negotiation method for self-driving vehicles that do not require maps and positioning
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机译:用于自动驾驶车辆的角落谈判方法,不需要地图和定位
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摘要
An ADV perceives a driving environment surrounding the ADV based on sensor data obtained from a variety of sensors mounted on the ADV including, for example, perceiving and recognizing a corner the ADV may be about to turn. Based on the perception data of the driving environment, a set of features representing the characteristics of an entrance point of a corner that the ADV is about to turn. Based on the characteristics of the corner, an entrance point of the corner is determined. Based on the entrance point, a lookup operation is performed in a corner mapping table to locate a mapping entry matching the entrance point. A turning radius is then obtained from the mapping entry of the corner mapping table. The turning radius obtained from the corner mapping table is then utilized to plan a trajectory (e.g., steering angle) to drive the ADV to turn the corner.
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