A pedestrian interaction system for low speed scenes for autonomous vehicles

摘要

In one embodiment, the system receives a captured image sensing an environment of the ADV from an image capturing device of the ADV, wherein the captured image is an image for recognizing an obstacle in motion near the ADV. Based on the projection of the moving obstacle, the system creates a drivable area around the moving obstacle. If the ADV is located within the drivable area, the system establishes an upper speed limit for the ADV. The system generates the corresponding trajectory to autonomously control the ADV according to the trajectory having the trajectory speed less than the upper speed limit, in order to decelerate the ADV when it is located within the drivable area.