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TRAJECTORY PLANNING WITH HISTORY MEASUREMENT FOR AUTONOMOUS VEHICLES
TRAJECTORY PLANNING WITH HISTORY MEASUREMENT FOR AUTONOMOUS VEHICLES
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机译:自治车辆历史测量的轨迹规划
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摘要
A computer-implement method for operating an ADV is disclosed. A first trajectory for the ADV to drive along is planned (S1401). The ADV is to autonomously drive along the first trajectory (S1402). An obstacle in an affected region of the ADV is detected based on sensor data obtained from a plurality of sensors mounted on the ADV (S1403). An expected residence time of the obstacle in the affected region is determined (S1404). Whether to plan a second trajectory or to wait for the obstacle to leave the affected region is determined based on the expected residence time of the obstacle in the affected region (S1405). A second trajectory for the ADV to drive along is planned and the ADV is to autonomously drive along the second trajectory, or the ADV is to wait for the obstacle to leave the affected region and to autonomously drive along the first trajectory afterwards (S1406).
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