SYSTÈME D'INTERACTION AVEC DES PIÉTONS POUR DES SCÈNES À FAIBLE VITESSE POUR VÉHICULES AUTONOMES

摘要

A method, a non-transitory machine-readable medium and a data processing system for an autonomous driving vehicle. The system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV (601), where the captured image identifies an obstacle in motion near the ADV. The system generates a feasible area surrounding the moving obstacle based on a projection of the moving obstacle (602). If the ADV is within the feasible area, the system determines an upper bound velocity limit for the ADV (603). The system generates a trajectory having a trajectory velocity less than the upper bound velocity limit to control the ADV autonomously according to the trajectory such that if the ADV is within the feasible area the ADV is to decelerate (604).