A driving environment is perceived based on sensor data obtained from a plurality of sensors mounted on an ADV. A first set of features is extracted from the sensor data representing the driving environment, where the first set of features include one or more obstacles moving relative to the ADV. A precaution notification is generated by applying a precautionary slowdown predictive model to the first set of features and a second set of features determined based on internal states of the ADV. In response to the precaution notification, a speed planning is performed to lower a speed limit of the ADV to a predetermined percentage of the speed limit. The ADV is controlled to drive autonomously according to the lowered speed limit to perform a precautionary slowdown.
基于从安装在ADV上的多个传感器获得的传感器数据来感知驾驶环境。从表示驾驶环境的传感器数据中提取第一组特征,其中第一组特征包括相对于ADV移动的一个或多个障碍。通过对第一组特征和基于ADV的内部状态确定的第二组特征应用预防减速预测模型来产生预防通知。响应于预防通知,执行速度规划以将ADV的速度限制降低到速度限制的预定百分比。控制ADV以根据降低的速度限制自动地驾驶,以执行预防减速。
PRECAUTIONARY SLOWDOWN SPEED PLANNING
预防减速规划
2021-12-07
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |