Aspects of the disclosure relate to signaling for turns for a vehicle (100) having an autonomous driving mode. For instance, a trajectory (410) that the vehicle will follow for some period of time into the future may be received. The at least a portion may be processed to identify a turning event, the turning event corresponding to a location where the vehicle plans to turn and for which the vehicle will need to use a turn signal. Whether the trajectory includes a negative turning event (610, 630) located some threshold distance before the turning event may be determined. The negative turning event corresponds to a location along the trajectory where the vehicle could make a turn, but does not plan to make a turn. While the vehicle is operating in the autonomous driving mode, the turn signal of the vehicle may be activated based on the turning event and the determination.
本公开的各方面涉及针对具有自主驾驶模式的车辆(100)的转弯发出信号。例如,可以接收车辆将在未来的某时间段遵循的轨迹(410)。可以处理至少部分以识别转弯事件,转弯事件与车辆规划转弯并且车辆将需要针对其使用转弯信号的位置相对应。可以确定轨迹是否包括位于转弯事件之前某阈值距离的负例转弯事件(610、630)。负例转弯事件与车辆可以进行转弯但规划不进行转弯的沿着轨迹的位置相对应。在车辆以自主驾驶模式操作时,基于转弯事件和该确定来激活车辆的转弯信号。
SIGNALING FOR TURNS FOR AUTONOMOUS VEHICLES
针对自主车辆的转弯发出信号
2021-10-15
Patent
Electronic Resource
Chinese
IPC: | B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein |