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。


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    Title :

    Detour decision based on lane boundaries and vehicle speed


    Additional title:

    基于车道边界和车辆速度的绕行决策


    Contributors:
    ZHU FAN (author)

    Publication date :

    2021-05-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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