Mutual Avoidance Algorithm for Self-Reverse Lanes in Autonomous Driving

摘要

In accordance with various embodiments, a system and method is provided for avoiding an entry object in a self-reverse lane by an ADV. In an embodiment, the ADV determines that the self-reverse lane has a preset width before entering the self-reverse lane. After entering the self-reverse lane, the ADV may follow the first reference line located at the center of the self-reverse lane. In response to detecting an incoming object, the ADV temporarily modifies the high-resolution map to create an alternative lane in the self-reverse lane. Then, the ADV follows a second baseline of the alternative lanes to avoid entering objects. In response to detecting that the incoming object has already passed and the self-reverse lane is smooth, the ADV may return to the center of the self-reverse lane and continue to follow the first reference line in the self-reverse lane.