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Extract from the Register of European Patents

EP About this file: EP3652602

EP3652602 - A SPIRAL PATH BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES [Right-click to bookmark this link]
StatusNo opposition filed within time limit
Status updated on  29.04.2022
Database last updated on 31.08.2024
FormerThe patent has been granted
Status updated on  21.05.2021
FormerGrant of patent is intended
Status updated on  08.04.2021
FormerExamination is in progress
Status updated on  02.10.2020
FormerRequest for examination was made
Status updated on  17.04.2020
FormerThe international publication has been made
Status updated on  05.04.2020
Formerunknown
Status updated on  27.07.2019
Most recent event   Tooltip14.06.2024Lapse of the patent in a contracting state
New state(s): TR		published on 17.07.2024  [2024/29]
Applicant(s)For all designated states
Baidu.com Times Technology (Beijing) Co., Ltd.
2/F A2 Zhongguancun Software Park
17th Building
No. 8 Dongbeiwang West Road
Haidian District
Beijing 100080 / CN
For all designated states
Baidu USA LLC
1195 Bordeaux Drive
Sunnyvale, California 94089 / US
[2020/21]
Inventor(s)01 / ZHU, Fan
1195 Bordeaux Dr.
Sunnyvale, CA 94089 / US
02 / MA, Lin
2/F A2 Zhongguancun Software Park 17th Building,
No.8, Dongbeiwang West Road
Haidian District
Beijing 100080 / CN
 [2020/21]
Representative(s)Lucke, Andreas
Boehmert & Boehmert
Anwaltspartnerschaft mbB
Pettenkoferstrasse 22
80336 München / DE
[2020/21]
Application number, filing date18900584.628.09.2018
[2020/21]
WO2018CN108355
Filing languageEN
Procedural languageEN
PublicationType: A1 Application with search report
No.:WO2020062030
Date:02.04.2020
Language:EN
[2020/14]
Type: A1 Application with search report 
No.:EP3652602
Date:20.05.2020
Language:EN
The application published by WIPO in one of the EPO official languages on 02.04.2020 takes the place of the publication of the European patent application.
[2020/21]
Type: B1 Patent specification 
No.:EP3652602
Date:23.06.2021
Language:EN
[2021/25]
Search report(s)International search report - published on:CN02.04.2020
(Supplementary) European search report - dispatched on:EP23.01.2020
ClassificationIPC:G05D1/02, B62D15/02, B60W30/18, B60W60/00
[2021/15]
CPC:
B60W30/18009 (EP); B60W40/072 (KR); B60W30/18036 (EP,US);
B60W10/20 (US); B60W30/10 (US); B60W30/14 (KR);
B60W40/02 (KR); B60W40/10 (KR); B60W60/0011 (EP);
B60W60/0025 (US); B62D15/02 (EP); G05D1/0212 (KR,US);
G05D1/0217 (EP); B60W2710/207 (US) (-)
Former IPC [2020/21]G05D1/02, B62D15/02
Designated contracting statesAL,   AT,   BE,   BG,   CH,   CY,   CZ,   DE,   DK,   EE,   ES,   FI,   FR,   GB,   GR,   HR,   HU,   IE,   IS,   IT,   LI,   LT,   LU,   LV,   MC,   MK,   MT,   NL,   NO,   PL,   PT,   RO,   RS,   SE,   SI,   SK,   SM,   TR [2020/21]
Extension statesBANot yet paid
MENot yet paid
Validation statesKHNot yet paid
MANot yet paid
MDNot yet paid
TNNot yet paid
TitleGerman:SPIRALBAHNBASIERTE DREIPUNKTDREHPLANUNG FÜR AUTONOM FAHRENDE FAHRZEUGE[2020/21]
English:A SPIRAL PATH BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES[2020/21]
French:PLANIFICATION DE DEMI-TOUR EN TROIS MAN UVRES BASÉ SUR UN TRAJET EN SPIRALE POUR VÉHICULES À CONDUITE AUTONOME[2020/21]
Entry into regional phase26.07.2019National basic fee paid 
26.07.2019Search fee paid 
26.07.2019Designation fee(s) paid 
26.07.2019Examination fee paid 
Examination procedure26.07.2019Examination requested  [2020/21]
07.08.2020Amendment by applicant (claims and/or description)
01.10.2020Despatch of a communication from the examining division (Time limit: M04)
29.01.2021Reply to a communication from the examining division
09.04.2021Communication of intention to grant the patent
18.05.2021Fee for grant paid
18.05.2021Fee for publishing/printing paid
18.05.2021Receipt of the translation of the claim(s)
Opposition(s)24.03.2022No opposition filed within time limit [2022/22]
Fees paidRenewal fee
31.03.2020Renewal fee patent year 03
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Patent Court		 See the Register of the Unified Patent Court for opt-out data
Responsibility for the accuracy, completeness or quality of the data displayed under the link provided lies entirely with the Unified Patent Court.
Lapses during opposition  TooltipHU28.09.2018
AL23.06.2021
AT23.06.2021
CY23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
IT23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
MK23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
TR23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IE28.09.2021
LU28.09.2021
BE30.09.2021
CH30.09.2021
LI30.09.2021
IS23.10.2021
PT25.10.2021
[2024/29]
Former [2024/23]HU28.09.2018
AL23.06.2021
AT23.06.2021
CY23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
IT23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
MK23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IE28.09.2021
LU28.09.2021
BE30.09.2021
CH30.09.2021
LI30.09.2021
IS23.10.2021
PT25.10.2021
Former [2023/33]HU28.09.2018
AL23.06.2021
AT23.06.2021
CY23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
IT23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IE28.09.2021
LU28.09.2021
BE30.09.2021
CH30.09.2021
LI30.09.2021
IS23.10.2021
PT25.10.2021
Former [2023/30]AL23.06.2021
AT23.06.2021
CY23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
IT23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IE28.09.2021
LU28.09.2021
BE30.09.2021
CH30.09.2021
LI30.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/37]AL23.06.2021
AT23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
IT23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IE28.09.2021
LU28.09.2021
BE30.09.2021
CH30.09.2021
LI30.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/36]AL23.06.2021
AT23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
IT23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IE28.09.2021
LU28.09.2021
BE30.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/35]AL23.06.2021
AT23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IE28.09.2021
LU28.09.2021
BE30.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/34]AL23.06.2021
AT23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
LU28.09.2021
BE30.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/29]AL23.06.2021
AT23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SI23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/25]AL23.06.2021
AT23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
MC23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/21]AT23.06.2021
CZ23.06.2021
DK23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/11]AT23.06.2021
CZ23.06.2021
EE23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
NL23.06.2021
PL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
IS23.10.2021
PT25.10.2021
Former [2022/09]AT23.06.2021
CZ23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
NL23.06.2021
RO23.06.2021
RS23.06.2021
SE23.06.2021
SK23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
PT25.10.2021
Former [2022/08]AT23.06.2021
CZ23.06.2021
ES23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
NL23.06.2021
RS23.06.2021
SE23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
Former [2022/07]AT23.06.2021
FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
NL23.06.2021
RS23.06.2021
SE23.06.2021
SM23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
Former [2021/51]FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
RS23.06.2021
SE23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
Former [2021/49]FI23.06.2021
HR23.06.2021
LT23.06.2021
LV23.06.2021
SE23.06.2021
BG23.09.2021
NO23.09.2021
GR24.09.2021
Former [2021/47]FI23.06.2021
LT23.06.2021
BG23.09.2021
Former [2021/46]FI23.06.2021
LT23.06.2021
Documents cited:Search[Y]  - LAMIRAUX F ET AL, "Smooth Motion Planning for Car-Like Vehicles", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, IEEE INC, NEW YORK, US, (20010801), vol. 17, no. 4, ISSN 1042-296X, XP011053613 [Y] 1-15 * the whole document *
 [Y]  - SCHEUER A ET AL, "Collision-free and continuous-curvature path planning for car-like robots", ROBOTICS AND AUTOMATION, 1997. PROCEEDINGS., 1997 IEEE INTERNATIONAL C ONFERENCE ON ALBUQUERQUE, NM, USA 20-25 APRIL 1997, IEEE, NEW YORK, NY, USA, (19970420), vol. 1, doi:10.1109/ROBOT.1997.620143, ISBN 978-0-7803-3612-4, pages 867 - 873, XP010235803 [Y] 1-15 * page 1 - page 2 *

DOI:   http://dx.doi.org/10.1109/ROBOT.1997.620143
 [Y]  - KUWATA Y ET AL, "Motion planning for urban driving using RRT", INTELLIGENT ROBOTS AND SYSTEMS, 2008. IROS 2008. IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, (20080922), doi:10.1109/IROS.2008.4651075, ISBN 978-1-4244-2057-5, pages 1681 - 1686, XP032335672 [Y] 1-15 * page 1685, column r, paragraph 1; figure 5 *

DOI:   http://dx.doi.org/10.1109/IROS.2008.4651075
Examination   - SCHEUER A ET AL, "Continuous-curvature path planning for car-like vehicles", INTELLIGENT ROBOTS AND SYSTEMS, 1997. IROS '97., PROCEEDINGS OF THE 19 97 IEEE/RSJ INTERNATIONAL CONFERENCE ON GRENOBLE, FRANCE 7-11 SEPT. 1997, NEW YORK, NY, USA,IEEE, US, (19970907), vol. 2, doi:10.1109/IROS.1997.655130, ISBN 978-0-7803-4119-7, pages 997 - 1003, XP010264765

DOI:   http://dx.doi.org/10.1109/IROS.1997.655130
The EPO accepts no responsibility for the accuracy of data originating from other authorities; in particular, it does not guarantee that it is complete, up to date or fit for specific purposes.