According to some embodiments, a system performs an emergency stop when a speed planning optimization fails to generate a speed curve. In one embodiment, in response to an emergency stop request, the system generates one or more path-time analytical curves, where each of the one or more path-time curves is represented by a polynomial function. The system selects one of the path-time analytical curves to determine whether the selected path-time analytical curve satisfies a set of evaluation criteria. If the selected path-time analytical curve does not satisfy the set of evaluation criteria, the system selects a next one of the path-time analytical curves for evaluation. If the selected path-time analytical curve satisfies the set of evaluation criteria, the system generates a trajectory based on the selected path-time analytical curve to control the ADV during an emergency stop.


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    Titel :

    Emergency stop speed profile for autonomous vehicles


    Beteiligte:
    ZHANG LIANGLIANG (Autor:in) / LI DONG (Autor:in) / JIANG YIFEI (Autor:in) / TAO JIAMING (Autor:in) / ZHU FAN (Autor:in) / HU JIANGTAO (Autor:in)

    Erscheinungsdatum :

    2021-04-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr



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