Embodiments disclose a method and a system to operate an autonomous driving vehicle (ADV). In one embodiment, a system determines a source lane speed limit (SLSL) for a source lane (SL) and a target lane speed limit (TLSL) for a target lane (TL), where the SLSL is greater than the TLSL. The system generates a first trajectory for the ADV to follow the SL, the first trajectory having a modified speed corresponding to the TLSL instead of the SLSL. The system generates a second trajectory for the ADV to change from the SL to the TL, the second trajectory having a speed corresponding to the TLSL. The system determines a first cost and a second cost for the first trajectory and the second trajectory respectively based on a cost function for comparison. The system controls the ADV according to a trajectory with a lowest cost.


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    Title :

    Lane change system for lanes with different speed limits


    Contributors:
    ZHU FAN (author)

    Publication date :

    2024-02-20


    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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