Method and apparatus for processing driving reference line, and vehicle

Patent metadata

Field	Value
Publication number	US-11415993-B2
Application number	US-202016790333-A
Country	US
Kind code	B2
Filing date	Feb 13, 2020
Priority date	Feb 22, 2019
Publication date	Aug 16, 2022
Grant date	Aug 16, 2022

Abstract

A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.

First claim

The invention claimed is:

1. A method for processing a driving reference line, comprising:
acquiring position information of at least one obstacle in a range covered by an original driving reference line;
determining a safety range parameter of at least one position in an area corresponding to the at least one obstacle based on the position information of the at least one obstacle;
adjusting the safety range parameter based on a type of at least one lane included in the original driving reference line, to obtain an adjusted safety range parameter;
adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the adjusted safety range parameter, to obtain an adjusted polynomial curve; and
determining an adjusted driving reference line based on the adjusted polynomial curve.

2. The method according to claim 1 , further comprising:
acquiring at least one parameter of a target vehicle, wherein
the determining the safety range parameter based on the position information of the at least one obstacle comprises: determining the safety range parameter of the at least one position in the area corresponding to the at least one obstacle based on the at least one parameter of the target vehicle and the position information of the at least one obstacle.

3. The method according to claim 1 , wherein the adjusting the coefficient of the polynomial curve corresponding to the original driving reference line based on the adjusted safety range parameter, to obtain the adjusted polynomial curve comprises:
adjusting the coefficient of the polynomial curve corresponding to the original driving reference line based on the adjusted safety parameter range and a loss function, to obtain the adjusted polynomial curve that avoids the at least one obstacle and has a lowest route cost.

4. The method according to claim 1 , wherein the original driving reference line comprises centerlines corresponding to at least two lanes from a start point to an end point, and
wherein the method further comprises: continuing using the original driving reference line, when the coefficient of the polynomial curve corresponding to the original driving reference line fails to be adjusted based on the adjusted safety range parameter.

5. An apparatus for processing a driving reference line, comprising:
one or more processors; and
a storage device configured to store one or more programs, wherein
the one or more programs, when executed by the one or more processors, cause the one or more processors to:
acquire position information of at least one obstacle in a range covered by an original driving reference line;
determine a safety range parameter of at least one position in an area corresponding to the at least one obstacle based on the position information of the at least one obstacle;
adjust the safety range parameter based on a type of at least one lane included in the original driving reference line, to obtain an adjusted safety range parameter;
adjust a coefficient of a polynomial curve corresponding to the original driving reference line based on the adjusted safety range parameter, to obtain an adjusted polynomial curve; and
determine an adjusted driving reference line based on the adjusted polynomial curve.

6. The apparatus according to claim 5 , wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to acquire at least one parameter of a target vehicle, and
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to determine the safety range parameter of the at least one position in the area corresponding to the at least one obstacle based on the at least one parameter of the target vehicle and the position information of the at least one obstacle.

7. The apparatus according to claim 5 , wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to adjust the coefficient of the polynomial curve corresponding to the original driving reference line based on the adjusted safety parameter range and a loss function, to obtain the adjusted polynomial curve that avoids the at least one obstacle and has a lowest route cost.

8. The apparatus according to claim 5 , wherein the original driving reference line comprises centerlines corresponding to at least two lanes from a start point to an end point, and
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to continue using the original driving reference line, when the coefficient of the polynomial curve corresponding to the original driving reference line fails to be adjusted based on the adjusted safety range parameter.

9. A non-transitory computer-readable storage medium comprising computer executable instructions stored thereon, wherein the executable instructions, when executed by a processor, causes the processor to:
acquire position information of at least one obstacle in a range covered by an original driving reference line;
determine a safety range parameter of at least one position in an area corresponding to the at least one obstacle based on the position information of the at least one obstacle;
adjust the safety range parameter based on a type of at least one lane included in the original driving reference line, to obtain an adjusted safety range parameter;
adjust a coefficient of a polynomial curve corresponding to the original driving reference line based on the adjusted safety range parameter, to obtain an adjusted polynomial curve; and
determine an adjusted driving reference line based on the adjusted polynomial curve.

10. The non-transitory computer-readable storage medium according to claim 9 , wherein the executable instructions, when executed by the processor, causes the processor to acquire at least one parameter of a target vehicle, and
wherein the executable instructions, when executed by the processor, causes the processor further to determine the safety range parameter of the at least one position in the area corresponding to the at least one obstacle based on the at least one parameter of the target vehicle and the position information of the at least one obstacle.

11. The non-transitory computer-readable storage medium according to claim 9 , wherein the executable instructions, when executed by the processor, causes the processor further to adjust the coefficient of the polynomial curve corresponding to the original driving reference line based on the adjusted safety parameter range and a loss function, to obtain the adjusted polynomial curve that avoids the at least one obstacle and has a lowest route cost.

12. The non-transitory computer-readable storage medium according to claim 9 , wherein the original driving reference line comprises centerlines corresponding to at least two lanes from a start point to an end point, and
wherein the executable instructions, when executed by the processor, causes the processor further to continue using the original driving reference line, when the coefficient of the polynomial curve corresponding to the original driving reference line fails to be adjusted based on the adjusted safety range parameter.

Assignees

• Baidu online network technology beijing co ltd
• Apollo Intelligent Driving Technology Beijing Co Ltd

Inventors

• Fu Xiaoxin
• Hao Dayang
• Zhu Zhenguang
• Chen Zhiyuan
• Pan Yuchang
• Zhu Fan

Classifications

• B60W30/18072

  Coasting · CPC title

• B60W40/02

  related to ambient conditions · CPC title

• B60W60/0015

  specially adapted for safety · CPC title

• B60W2554/402

  Type · CPC title

• B60W30/08 Primary

  Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences · CPC title