A lane configuration of a lane in which the ADV is traveling and a current speed of the ADV are determined. A bypass space is determined based on the lane configuration, the current speed, and a vehicle width of the ADV. In response to determining that the bypassing space is greater than the predetermined threshold bypassing space, a path planning is performed to generate a path bypassing the obstacle. The ADV is controlled to automatically travel in accordance with the generated path for bypassing the obstacle.
确定ADV正在行驶的车道的车道配置和ADV的当前速度。基于车道配置、当前速度和ADV的车辆宽度来确定绕行空间。响应于确定绕行空间大于预定阈值绕行空间,执行路径规划以生成绕行障碍物的路径。根据所生成的绕行障碍物的路径来控制ADV自动地行驶。
Detour decision based on lane boundaries and vehicle speed
基于车道边界和车辆速度的绕行决策
2021-05-25
Patent
Electronic Resource
Chinese
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 |
Four lane road built without detour
Engineering Index Backfile | 1941
|LOADED VEHICLE INSPECTION DETOUR DECISION SYSTEM AND CONTROL METHOD THEREOF
European Patent Office | 2020
|