A system adjusts a vehicle speed prior to a lane change for an autonomous driving vehicle (ADV). The system: plans a hypothetical rough path without lane change; determines virtual non-blocking Station-Time (ST) boundaries of potentially interfering vehicles in a target lane, comprising shifting the hypothetical rough path to an ST coordinate system associated with the target lane; determines projected ST boundaries, comprising projecting the virtual non-blocking ST boundaries onto a real ST coordinate system associated with a current lane; determines residual ST boundaries, comprising keeping only part of the projected ST boundaries where t>t0, wherein t0 is a parameter; and performs speed optimization based on the residual ST boundaries.
NOVEL METHOD FOR SPEED ADJUSTMENT OF AUTONOMOUS DRIVING VEHICLES PRIOR TO LANE CHANGE
2019-10-17
Patent
Electronic Resource
English
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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