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.


    Access

    Download


    Export, share and cite



    Title :

    SPEED PLANNING USING A SPEED PLANNING GUIDELINE FOR IDLE SPEED OF AUTONOMOUS DRIVING VEHICLES


    Additional title:

    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


    Contributors:
    ZHU FAN (author)

    Publication date :

    2021-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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



    Speed planning for autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / FURMAN VADIM / KUNZ TOBIAS | European Patent Office | 2024

    Free access

    Speed planning for autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / FURMAN VADIM / KUNZ TOBIAS | European Patent Office | 2023

    Free access

    Speed planning for autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / FURMAN VADIM / KUNZ TOBIAS | European Patent Office | 2020

    Free access

    Using discomfort for speed planning in autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / KUNZ TOBIAS / FURMAN VADIM | European Patent Office | 2023

    Free access

    USING DISCOMFORT FOR SPEED PLANNING IN AUTONOMOUS VEHICLES

    GUTMANN JENS-STEFFEN RALF / KUNZ TOBIAS / FURMAN VADIM | European Patent Office | 2020

    Free access