Lane based routing system for autonomous driving vehicles
AssigneeBaidu USA LLC
InventorFan Zhu
Life of this patent
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Abstract
Embodiments disclose systems and methods to generate a lane-based reference line for an autonomous driving vehicle. In one embodiment, a system receives a request to route an autonomous driving vehicle (ADV) from a source location to a target location. In response to the request, the system identifies a set of road segments between the source location and the target location navigable by the ADV, where each of the road segments in the set includes one or more lane segments. The system identifies one or more lane paths corresponding to the set of road segments. The system determines an effective distance for each of the one or more lane paths. The system selects a lane path based on the determined effective distance. The system generates a lane-based reference line based on the selected lane path.
Claims20
A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
- identifying a set of road segments between a source location and a target location navigable by the ADV, wherein each road segment in the set of road segments includes one or more lane segments;
- determining one or more lane paths based on lane segments of the set of road segments;
- determining an effective distance for each lane path of the one or more lane paths in view of a current position of the ADV, wherein the effective distance for the lane path is modified based on whether the lane path has a left turn, a right turn, a U-turn, or a lane change;
- generating a lane-based reference line based on a lane path selected from the one or more lane paths based on the effective distance of the lane path;
- generating a road-based reference line based on the set of road segments without using the effective distance of each lane path of the one or more lane paths;
- automatically selecting a reference line of the lane-based reference line or the road-based reference line based on a number of lanes in each of the set of road segments;
- and
- planning a trajectory from the source location to the target location based on the selected reference line.
A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor of an autonomous driving vehicle (ADV), cause the ADV to perform operations, the operations comprising:
- identifying a set of road segments between a source location and a target location navigable by the ADV, wherein each road segment in the set of road segments includes one or more lane segments;
- determining one or more lane paths based on lane segments of the set of road segments;
- determining an effective distance for each lane path of the one or more lane paths in view of a current position of the ADV, wherein the effective distance for the lane path is modified based on whether the lane path has a left turn, a right turn, a U-turn, or a lane change;
- generating a lane-based reference line based on a lane path selected from the one or more lane paths based on the effective distance of the lane path;
- generating a road-based reference line based on the set of road segments without using the effective distance of each lane path of the one or more lane paths;
- automatically selecting a reference line of the lane-based reference line or the road-based reference line based on a number of lanes in each of the set of road segments;
- and
- planning a trajectory from the source location to the target location based on the selected reference line.
A data processing system in an autonomous driving vehicle, comprising:
- a processor;
- and
- a memory coupled to the processor to store instructions, which when executed by the processor, cause the data processing system to perform operations, the operations including
- identifying a set of road segments between a source location and a target location navigable by the ADV, wherein each road segment in the set of road segments includes one or more lane segments;
- determining one or more lane paths based on lane segments of the set of road segments;
- determining an effective distance for each lane path of the one or more lane paths in view of a current position of the ADV, wherein the effective distance for the lane path is modified based on whether the lane path has a left turn, a right turn, a U-turn, or a lane change;
- generating a lane-based reference line based on a lane path selected from the one or more lane paths based on the effective distance of each lane path of the one or more lane paths;
- generating a road-based reference line based on the set of road segments without using the effective distance of the each lane path;
- automatically selecting a reference line of the lane-based reference line or the road-based reference line based on a number of lanes in each of the set of road segments;
- and
- planning a trajectory from the source location to the target location based on the selected reference line.
Dependencies are inferred from the claim text.