US 11,529,971 B2Granted

Method and apparatus for autonomous driving control, electronic device, and storage medium

AssigneeApollo Intelligent Driving Technology (Beijing) Co., Ltd.

InventorsDongchun Yao, Leibing Lv, Jingjing Xue, Fan Zhu

Life of this patent

Estimating the term…

Loading patent…

Abstract

The present application discloses a method and an apparatus for autonomous driving control, an electronic device, and a storage medium; the application relates to the technical field of autonomous driving. A specific implementation solution is: obtaining movement data of a pedestrian, where the movement data includes a velocity component of the pedestrian along a width direction of a lane and a time of duration that the pedestrian cuts into a driving path of the autonomous vehicle from one side; determining a movement direction of the pedestrian according to the movement data and the movement information of the pedestrian; and generating a driving strategy for the autonomous vehicle according to the movement direction of the pedestrian. Therefore, the movement direction of the pedestrian can be accurately predicted, which facilitates the autonomous vehicle to avoid the pedestrian and insures driving safety.

Claims14

Dependent claims

A method for autonomous driving control, comprising:

obtaining, by a processor, movement data of a pedestrian;
wherein the movement data comprises:
a velocity component of the pedestrian along a width direction of a lane and a time of duration that the pedestrian cuts into a driving path of an autonomous vehicle from one side, wherein, the time of duration that the pedestrian cuts into the driving path of the autonomous vehicle from one side indicates a likelihood that the pedestrian will intrude into the driving path of the autonomous vehicle;
determining, by the processor, a movement direction of the pedestrian according to the movement data and movement information of the pedestrian;
generating, by the processor, a driving strategy for the autonomous vehicle according to the movement direction of the pedestrian;
and
controlling, by the processor, driving of the autonomous vehicle according to the driving strategy;
wherein the obtaining, by the processor, movement data of the pedestrian comprises:
obtaining, by the processor, a position of the lane where the pedestrian is located and the movement velocity of the pedestrian;
resolving, by the processor, the movement velocity of the pedestrian in accordance to an extension direction and the width direction of the lane to obtain a velocity component along the extension direction of the lane and the velocity component along the width direction of the lane;
and
determining, by the processor, the time of duration that the pedestrian cuts into the driving path of the autonomous vehicle from the one side according to the velocity component of the pedestrian along the width direction of the lane and the position of the lane where the pedestrian is located;
wherein the time of duration refers to a time of duration of keeping the movement velocity for cutting into the driving path of the autonomous vehicle from one side non-zero.

10 more elements

An electronic device, comprising:

at least one processor;
and
a memory connected in communication with the at least one processor;
wherein
the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:
obtain movement data of a pedestrian;
wherein the movement data comprises:
a velocity component of the pedestrian along a width direction of a lane and a time of duration that the pedestrian cuts into a driving path of an autonomous vehicle from one side, wherein, the time of duration that the pedestrian cuts into the driving path of the autonomous vehicle from one side indicates a likelihood that the pedestrian will intrude into the driving path of the autonomous vehicle;
determine a movement direction of the pedestrian according to the movement data and movement information of the pedestrian;
generate a driving strategy for the autonomous vehicle according to the movement direction of the pedestrian;
and
control driving of the autonomous vehicle according to the driving strategy;
wherein the at least one processor is further enabled to:
obtain a position of the lane where the pedestrian is located and the movement velocity of the pedestrian;
resolve the movement velocity of the pedestrian in accordance to an extension direction and the width direction of the lane to obtain a velocity component along the extension direction of the lane and the velocity component along the width direction of the lane;
and
determine the time of duration that the pedestrian cuts into the driving path of the autonomous vehicle from the one side according to the velocity component of the pedestrian along the width direction of the lane and the position of the lane where the pedestrian is located;
wherein the time of duration refers to a time of duration of keeping the movement velocity for cutting into the driving path of the autonomous vehicle from one side non-zero.

15 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/911,516Filed 25 Jun 2020
Priority: CN 201910944865.630 Sep 2019
Published: US 2021/0094578 A11 Apr 2021
Granted: 20 Dec 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification17 codes

B60W 60/0017
Specially adapted for safety: of other traffic participants
B60W 30/09
Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences: taking automatic action…
B60W 30/0956
Predicting travel path or likelihood of collision: the prediction being responsive to traffic or environmental parameters
B60W 60/00272
Using trajectory prediction for other traffic participants: relying on extrapolation of current movement