A learning based speed planner for autonomous driving vehicles (ADV) is disclosed. An ADV is set into human-driving mode. Driving control elements are under control of a human driver, and other ADV logic is enabled. The ADV plans a route path on a segment of the route having an obstacle. ADV logic generates a station-time graph for the path of the segment, and a grid of cells to encompass the path and obstacle. A feature vector is generated from the grid. Human driving behavior is recorded as the ADV is navigated along the path. Recorded driving data for a large plurality of paths, obstacles and ADVs is transmitted to a server to generate a speed model. The speed model is downloaded to one or more ADVs for use in autonomous driving mode, to determine an initial speed to use in similar driving situations.


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    Title :

    Learning based speed planner for autonomous driving vehicles


    Contributors:
    ZHANG LIANGLIANG (author) / LI DONG (author) / HU JIANGTAO (author) / TAO JIAMING (author) / JIANG YIFEI (author)

    Publication date :

    2021-09-21


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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