Lane configuration of a lane on which an ADV is driving and a current speed of the ADV are determined. A nudge space is determined based on the lane configuration, the current speed, and a vehicle width of the ADV. Path planning is performed to generate a path to nudge an obstacle, in response to the determining that the nudge space is greater than a predetermined threshold nudge space. The ADV is controlled to drive autonomously according to the planned path to nudge the obstacle.
Lane boundary and vehicle speed based nudge decision
2023-10-17
Patent
Elektronische Ressource
Englisch
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 |