A control command is estimated based on a target position in view of a current speed and a current position of the ADV. Based on the estimated control command, a range of confidence positions that the ADV may potentially reach is determined. The range of confidence positions is examined to determine whether the range of confidence positions is within a safety zone, where the safety zone is determined based on the perception data that perceives a driving environment surrounding the ADV at the point in time. If the potential positions the ADV may reaches is within the safety zone, the estimated control command is then applied to the ADV. If the range of confidence positions is outside of the safety zone, another control command is estimated and the above process is repeatedly performed until the range of confidence positions falls within the safety zone.


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    Title :

    CONTROL DOMINATED PLANNING AND CONTROL SYSTEM FOR AUTONOMOUS DRIVING VEHICLES


    Contributors:
    ZHU FAN (author)

    Publication date :

    2018-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge





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