A method, apparatus, and system for executing a lane change is disclosed. That an ADV is in a lane changing region for an anticipated lane change into a neighboring target lane in a first direction is determined. The first direction is either a left direction or a right direction in a direction of travel of the ADV. A reference line is moved toward the target lane in the first direction at a predetermined rate while the reference line is kept within a current lane of the ADV. A gap in traffic for the anticipated lane change is searched for. Thereafter, in response to finding the gap in traffic for the anticipated lane change, the ADV is controlled to complete the lane change into the target lane.
公开了一种用于执行车道变更的方法、装置和系统。确定ADV处于沿着第一方向进入相邻目标车道中的预期车道变更的车道变更区域中。第一方向是ADV的行进方向上的左方向或右方向。参考线以预定速率沿着第一方向朝向目标车道移动,同时参考线保持在ADV的当前车道内。搜索用于预期车道变更的交通中的间隙。此后,响应于找到用于预期车道变更的交通中的间隙,控制ADV完成进入目标车道的车道变更。
CENTRAL LINE SHIFTING BASED PRE-CHANGE LANE PATH PLANNING
基于中心线移位的变道前路径规划
2021-07-02
Patent
Elektronische Ressource
Chinesisch
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