A driving environment is perceived based on sensor data obtained from a plurality of sensors mounted on the ADV. In response to a request for changing lane from a first lane to a second lane, path planning is performed. The path planning includes identifying a first lane change point for the ADV to change from the first lane to the second lane in a first trajectory of the ADV, determining a lane change preparation distance with respect to the first lane change point, and generating a second trajectory based on the lane change preparation distance, where the second trajectory having a second lane change point delayed from the first lane change point. Speed planning is performed on the second trajectory to control the ADV to change lane according to the second trajectory with different speeds at different point in time.


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    Title :

    PATH PLANNING WITH A PREPARATION DISTANCE FOR A LANE-CHANGE


    Contributors:
    PAN JIACHENG (author) / XU JIAXUAN (author) / ZHOU JINYUN (author) / SUN HONGYI (author) / JIANG SHU (author) / TAO JIAMING (author) / JIANG YIFEI (author) / HU JIANGTAO (author) / MIAO JINGHAO (author)

    Publication date :

    2021-06-17


    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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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