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Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle

A technology for moving objects and vehicle braking, applied in vehicle components, vehicle position/route/height control, transportation and packaging, etc., can solve problems such as incorrect paths, affecting lanes, changing roughness, etc.

Active Publication Date: 2016-05-04
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the measured vehicle state may differ from the actual vehicle state due to the latency of the sensors and actuators
This difference can cause incorrect paths to be generated, which will affect the roughness of lane changes

Method used

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  • Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle
  • Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle
  • Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle

Examples

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Embodiment Construction

[0098] The following discussion directed to embodiments of the present invention for systems and methods for providing path planning and generation and collision avoidance with moving objects in a semi-autonomous or autonomously driven vehicle is merely exemplary in nature and in no way intended to be limiting The invention or its application or use.

[0099] figure 1 is a schematic diagram of a vehicle 10 including a controller 12 that performs all necessary processes, calculations, algorithms, etc., as discussed herein to provide path prediction, generation, and control of the vehicle 10 driven in a semi-autonomous or autonomous 12 may be any number of individual or combined processors, electronic control units (ECUs), devices, and the like. The controller 12 receives signals from one or more forward looking vision cameras 14 which detect lane markings and objects on or in the road or otherwise in front of the vehicle 10, wherein the cameras 14 may be any suitable detection...

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Abstract

A system and method for providing path planning and generation in a semi-autonomous or autonomously driven vehicle that provides a steering correction for collision avoidance purposes. The method includes detecting a lane center of a roadway lane that the vehicle is traveling along and determining a lane centering path that directs the vehicle from its current position to the lane center. The method also includes detecting a moving object in front of the vehicle and determining if a collision between the vehicle and the object will occur if the vehicle travels along the lane centering path at the current vehicle speed. The method solves a fifth-order polynomial equation to define a collision avoidance path from the current vehicle position to a waypoint a safe distance from the object and a return path from the waypoint to the lane center that the vehicle is automatically steered along.

Description

technical field [0001] The present invention relates generally to a system and method for providing path planning and generation in a semi-autonomous or autonomous vehicle, and more particularly, to a method for providing path planning and path generation in a semi-autonomous or autonomous vehicle A system and method comprising altering a vehicle steering path in response to a moving object detected in front of the vehicle, wherein the object may move in a lateral or longitudinal direction relative to vehicle motion. Background technique [0002] The operation of today's vehicles is becoming more autonomous, ie, the vehicle is able to provide driving control with less and less driver intervention. Cruise control systems have been used in vehicles for many years in which the operator of the vehicle can set a specific speed of the vehicle and the vehicle will maintain that speed without requiring the driver to operate the accelerator. Adaptive cruise control systems have rece...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D15/02B60W30/09G01C21/12
CPCB60W30/09B62D15/025B62D15/0255G01C21/12B60W10/184B60W10/20B60W30/095B60W30/12B60W2050/009B60W2520/10B60W30/0953G05D1/0246B60W2420/403B60W2554/802B60W2552/53B60W2554/4044
Inventor J-W·李
Owner GM GLOBAL TECH OPERATIONS LLC
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