According to some embodiments, described herein is a method and a system for guaranteeing safety at a control level of an ADV when at least a portion of a planned path generated by a planning module of the ADV is uncertain due to traffics and/or road condition changes. The planning module, when generating a path, also generate a confidence level of each segment of the path based on one or more of perception data, map information, or traffic rules. The confidence levels are decreasing further away from the ADV. When the control module of the ADV obtains the path and the associated confidence levels, the control module issue control commands to track only one or two segments whose confidence levels exceeds a threshold hold, and issue default control commands for the rest of the path.


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    Title :

    SAFETY GUARANTEED CONTROL WHEN PLANNING WITH UNCERTAINTY


    Additional title:

    SICHERHEITSGARANTIESTEUERUNG BEI DER PLANUNG MIT UNSICHERHEIT
    COMMANDE GARANTIE DE SÉCURITÉ LORS DE LA PLANIFICATION AVEC UNE INCERTITUDE


    Contributors:
    JIANG SHU (author) / LIN WEIMAN (author) / CAO YU (author) / HU JIANGTAO (author) / MIAO JINGHAO (author)

    Publication date :

    2024-02-28


    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



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