Methods and systems for operating an autonomous driving vehicle are provided. An obstacle is detected based on sensor data obtained from a plurality of sensors of the ADV. A plurality of trajectories of an obstacle having respective probabilities are predicted, including a first predicted trajectory of an obstacle having a highest probability and a second predicted trajectory of an obstacle having a second high probability. An alert trajectory of the ADV is planned based on at least one of a difference between the highest probability and the second high probability or a result of the second trajectory. The ADV will drive at a speed below the speed limit and prepare to stop in the alert trajectory. And controlling the ADV to drive according to the warning track.
本公开提供操作自主驾驶车辆的方法和系统。基于从ADV的多个传感器获得的传感器数据检测障碍物。预测具有相应的概率的障碍物的多个轨迹,包括具有最高概率的障碍物的第一预测轨迹和具有第二高概率的障碍物的第二预测轨迹。基于最高概率和第二高概率之间的差或第二轨迹的结果中的至少一个,规划ADV的警示轨迹。ADV将以低于速度限制的速度驾驶,并准备在警示轨迹中停车。控制ADV根据警示轨迹驾驶。
Method and system for operating autonomous driving vehicle
操作自主驾驶车辆的方法和系统
2023-03-31
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 |
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