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METHOD FOR DRIFTING CORRECTION FOR PLANNING A PATH FOR AUTONOMOUS DRIVING VEHICLES
METHOD FOR DRIFTING CORRECTION FOR PLANNING A PATH FOR AUTONOMOUS DRIVING VEHICLES
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机译:用于自动驾驶车辆的路径规划的修正方法
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摘要
In one embodiment, when planning a path for a current driving cycle for an autonomous driving vehicle (ADV), a current location of the ADV is determined based on sensor data provided by a variety of sensors mounted on the ADV. A path is generated for the current driving cycle to drive the ADV from the current location for a predetermined period of time. An expected location of the ADV calculated based on a previous path, which was generated during a previous driving cycle. A drifting error is then calculated based on the expected location and the current location of the ADV. At least a starting point of the path for the current driving cycle is modified based on the drifting error, generating a modified path. The ADV is then controlled according to the modified path.
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