Path planning with a preparation distance for a lane-change

Patent metadata

Field	Value
Publication number	US-11061403-B2
Application number	US-201916712035-A
Country	US
Kind code	B2
Filing date	Dec 12, 2019
Priority date	Dec 12, 2019
Publication date	Jul 13, 2021
Grant date	Jul 13, 2021

Abstract

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.

First claim

What is claimed is:

1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
perceiving a driving environment based on sensor data obtained from a plurality of sensors mounted on the ADV, including detecting one or more obstacles;
in response to a request for changing lane from a first lane to a second lane, performing path planning, including
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 generated in view of the driving environment,
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, the second trajectory having a second lane change point delayed from the first lane change point based on at least a portion of the lane change preparation distance; and

performing speed planning on the second trajectory to control the ADV to change lane from the first lane to the second lane according to the second trajectory with different speeds at different points in time.

2. The method of claim 1 , wherein the second trajectory stays in the first lane and gradually leans towards the second lane within the lane change preparation distance.

3. The method of claim 1 , wherein the lane change preparation distance is determined based on a state of the ADV and the driving environment.

4. The method of claim 1 , wherein the lane change preparation distance is determined based on a set of rules in view of a current traffic condition of the first lane and the second lane.

5. The method of claim 4 , wherein the set of rules including one or more lane changing rules based on a speed of the ADV, or one or more distances of the ADV with respect to one or more obstacles.

6. The method of claim 1 , wherein the lane change preparation distance is determined based on an iterative optimization algorithm.

7. The method of claim 6 , wherein the second path trajectory is generated based on the iterative optimization algorithm.

8. The method of claim 1 , wherein the lane change preparation distance is determined by applying a machine-learning model on a set of features describing the driving environment surrounding the ADV.

9. The method of claim 1 , further comprising generating a station-time graph (ST-graph) based on the lane change preparation distance.

10. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of an autonomous driving vehicle (ADV), the operations comprising:
perceiving a driving environment based on sensor data obtained from a plurality of sensors mounted on the ADV, including detecting one or more obstacles;
in response to a request for changing lane from a first lane to a second lane, performing path planning, including
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 generated in view of the driving environment,
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, the second trajectory having a second lane change point delayed from the first lane change point based on at least a portion of the lane change preparation distance; and

performing speed planning on the second trajectory to control the ADV to change lane from the first lane to the second lane according to the second trajectory with different speeds at different points in time.

11. The non-transitory machine-readable medium of claim 10 , wherein the second trajectory stays in the first lane and gradually leans towards the second lane within the lane change preparation distance.

12. The non-transitory machine-readable medium of claim 10 , wherein the lane change preparation distance is determined based on a state of the ADV and the driving environment.

13. The non-transitory machine-readable medium of claim 10 , wherein the lane change preparation distance is determined based on a set of rules in view of a current traffic condition of the first lane and the second lane.

14. The non-transitory machine-readable medium of claim 10 , wherein the lane change preparation distance is determined based on an iterative optimization algorithm.

15. The non-transitory machine-readable medium of claim 10 , wherein the lane change preparation distance is determined by applying a machine-learning model on a set of features describing the driving environment surrounding the ADV.

16. The non-transitory machine-readable medium of claim 10 , wherein the operations further comprise generating a station-time graph (ST-graph) based on the lane change preparation distance.

17. A data processing system, comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations of an autonomous driving vehicle (ADV), the operations including
perceiving a driving environment based on sensor data obtained from a plurality of sensors mounted on the ADV, including detecting one or more obstacles;
in response to a request for changing lane from a first lane to a second lane, performing path planning, including
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 generated in view of the driving environment,
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, the second trajectory having a second lane change point delayed from the first lane change point based on at least a portion of the lane change preparation distance; and

performing speed planning on the second trajectory to control the ADV to change lane from the first lane to the second lane according to the second trajectory with different speeds at different points in time.

18. The data processing system of claim 17 , wherein the second trajectory stays in the first lane and gradually leans towards the second lane within the lane change preparation distance.

19. The data processing system of claim 17 , wherein the lane change preparation distance is determined based on a state of the ADV and the driving environment.

20. The data processing system of claim 17 , wherein the lane change preparation distance is determined based on a set of rules in view of a current traffic condition of the first lane and the second lane.

21. The data processing system of claim 17 , wherein the operations further comprise generating a station-time graph (ST-graph) based on the lane change preparation distance.

Assignees

• Baidu Usa Llc

Inventors

• Pan Jiacheng
• Xu Jiaxuan
• Zhou Jinyun
• Sun Hongyi
• Jiang Shu
• Tao Jiaming
• Jiang Yifei
• Hu Jiangtao
• Miao Jinghao

Classifications

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G01C21/3415 Primary

  Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents · CPC title

• G01C21/165

  combined with non-inertial navigation instruments · CPC title