Embodiments disclose a method and a system to operate an autonomous driving vehicle (ADV). In one embodiment, a system determines a source lane speed limit (SLSL) for a source lane (SL) and a target lane speed limit (TLSL) for a target lane (TL), wherein the SLSL is greater than the TLSL. The system generates a first trajectory for the ADV to follow the SL, the first trajectory having a modified speed corresponding to the TLSL instead of the SLSL. The system generates a second trajectory for the ADV to change from the SL to the TL, the second trajectory having a speed corresponding to the TLSL. The system determines a first cost and a second cost for the first trajectory and the second trajectory respectively based on a cost function for comparison. The system controls the ADV according to a trajectory with a lowest cost.
实施方式公开了一种用于操作自动驾驶车辆(ADV)的方法和系统。在一个实施方式中,系统确定源车道(SL)的源车道速度限制(SLSL)和目标车道(TL)的目标车道速度限制(TLSL),其中SLSL大于TLSL。该系统生成自动驾驶车辆沿着SL的第一轨迹,该第一轨迹具有对应于TLSL而不是SLSL的经修改的速度。该系统生成自动驾驶车辆从SL变更为TL的第二轨迹,该第二轨迹具有对应于TLSL的速度。该系统基于用于比较的成本函数分别确定第一轨迹的第一成本和第二轨迹的第二成本。该系统根据轨迹以最低的成本控制自动驾驶车辆。
LANE CHANGE SYSTEM FOR LANES WITH DIFFERENT SPEED LIMITS
用于具有不同速度限制的车道的车道变更系统
2021-12-21
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 |
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