System and method for adjusting a road boundary

US10604156B2 · kind B2 · utility

Assignee

• VOLVO CAR CORPORATION · SE

Inventors

• Joakim Lin Sorstedt · Gothenburg, SE
• Lars Hammarstrand · Uppsala, SE
• Lennart Svensson · Visby, SE
• Malin LUNDGREN · Gothenburg, SE

Key dates

• Filing date: Jun 8, 2016
• Grant date: Mar 31, 2020
• Expiry date: Jul 21, 2037

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2556/20
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A system for adjusting a road boundary of a two dimensional virtual representation of a road for path planning of an autonomous vehicle includes a retrieval unit to retrieve a measured position and measured heading angle of the vehicle with respect to a reference. The system also includes an uncertainty unit to receive the measured position, the measured heading angle and map data of the road, and to determine a position uncertainty value and a heading angle uncertainty value representing an amount of uncertainty in the vehicle position and heading angle, respectively, on the road based on the input. The system also includes an adjustment unit to adjust a width and a heading angle of a drivable portion of the two dimensional virtual representation of the road, wherein the adjustment of the width and heading angle is based on the position uncertainty value and the heading angle uncertainty value, respectively.