In one embodiment, a driving environment is perceived based on sensor data obtained from a variety of sensors, including determining a current speed (801) of an ADV. In response to a request for driving with an idle speed (803), a speed guideline is generated based on an idle speed curve (800) in view of the current speed of the ADV. A speed planning operation is performed by optimizing a cost function based on the speed guideline to determine the speeds of the trajectory points at different points in time along a trajectory planned to drive the ADV. One or more control commands are then generated to control the ADV with the planned speeds along the planned trajectory, such that the ADV moves according to an intended idle speed.
SPEED PLANNING USING A SPEED PLANNING GUIDELINE FOR IDLE SPEED OF AUTONOMOUS DRIVING VEHICLES
GESCHWINDIGKEITSPLANUNG MIT EINER GESCHWINDIGKEITSPLANUNGSRICHTLINIE FÜR DIE LEERLAUFGESCHWINDIGKEIT VON AUTONOM FAHRENDEN FAHRZEUGEN
PLANIFICATION DE LA VITESSE AVEC UNE DIRECTIVE DE PLANIFICATION DU REGIME DE RALENTI DE VÉHICULES À DÉPLACEMENT AUTONOME
2021-06-23
Patent
Electronic Resource
English
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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