Adjusting speeds along a path for autonomous driving vehicles

Patent metadata

Field	Value
Publication number	US-11186276-B2
Application number	US-201816048003-A
Country	US
Kind code	B2
Filing date	Jul 27, 2018
Priority date	Jul 27, 2018
Publication date	Nov 30, 2021
Grant date	Nov 30, 2021

Abstract

In some implementations, a method is provided. The method includes determining a path for an autonomous driving vehicle. The path is located within a first lane of an environment in which the autonomous driving vehicle is currently located. The method also includes obtaining sensor data. The sensor data indicates a set of speeds for a set of moving obstacles located in a second lane of the environment and wherein the second lane is adjacent to the first lane. The method further includes determining whether the set of speeds is lower than a threshold speed. The method further includes determining a new speed for the autonomous driving vehicle in response to determining that the set of speeds is lower than the threshold speed. The method further includes controlling the autonomous driving vehicle based on the path and the new speed.

First claim

What is claimed is:

1. A computer-implemented method for operating an autonomous driving vehicle, the method comprising:
determining a path for an autonomous driving vehicle, wherein the path is located within a first lane of an environment in which the autonomous driving vehicle is currently located;
obtaining sensor data, wherein the sensor data indicates a set of speeds for a set of moving obstacles located in a second lane of the environment and wherein the second lane is adjacent to the first lane;
determining whether the set of speeds for the set of moving obstacles located in the second lane is lower than a threshold speed, wherein the second lane is an exit lane;
determining a new speed for the autonomous driving vehicle located within the first lane to be at least 20% lower than a speed limit for the first lane based on the speed limit for the first lane, a current speed of the autonomous driving vehicle, and the set of speeds for the set of moving obstacles located in the second lane in response to determining that the set of speeds for the set of moving obstacles located in the second lane is lower than the threshold speed; and
controlling the autonomous driving vehicle based on the path and the new speed.

2. The computer-implemented method of claim 1 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining an average speed for the set of speeds.

3. The computer-implemented method of claim 1 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining a highest speed for the set of speeds.

4. The computer-implemented method of claim 1 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining a lowest speed for the set of speeds.

5. The computer-implemented method of claim 1 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining a median speed for the set of speeds.

6. The computer-implemented method of claim 1 , further comprising:
maintaining a current speed or increasing the current speed in response to determining that the set of speeds is not lower than the threshold speed.

7. The computer-implemented method of claim 1 , wherein the new speed is based on a current speed for the autonomous driving vehicle.

8. The computer-implemented method of claim 1 , wherein the new speed is based on the set of speeds.

9. The computer-implemented method of claim 1 , further comprising:
determining the path based on a reference line between a first location and a second location associated with an autonomous driving vehicle.

10. The computer-implemented method of claim 1 , wherein the first lane is a carpool lane.

11. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:
determining a path for an autonomous driving vehicle, wherein the path is located within a first lane of an environment in which the autonomous driving vehicle is currently located;
obtaining sensor data, wherein the sensor data indicates a set of speeds for a set of moving obstacles located in a second lane of the environment and wherein the second lane is adjacent to the first lane;
determining whether the set of speeds for the set of moving obstacles located in the second lane is lower than a threshold speed, wherein the second lane is an exit lane;
determining a new speed for the autonomous driving vehicle located within the first lane to be at least 20% lower than a speed limit for the first lane based on the speed limit for the first lane, a current speed of the autonomous driving vehicle, and the set of speeds for the set of moving obstacles located in the second lane in response to determining that the set of speeds for the set of moving obstacles located in the second lane is lower than the threshold speed; and
controlling the autonomous driving vehicle based on the path and the new speed.

12. The non-transitory machine-readable medium of claim 11 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining an average speed for the set of speeds.

13. The non-transitory machine-readable medium of claim 11 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining a highest speed for the set of speeds.

14. The non-transitory machine-readable medium of claim 11 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining a lowest speed for the set of speeds.

15. The non-transitory machine-readable medium of claim 11 , wherein determining whether the set of speeds is lower than a threshold speed comprises:
determining a median speed for the set of speeds.

16. The non-transitory machine-readable medium of claim 11 , wherein the operations further comprise:
maintaining a current speed or increasing the current speed in response to determining that the set of speeds is not lower than the threshold speed.

17. The non-transitory machine-readable medium of claim 11 , wherein the operations further comprise:
determining the path based on a reference line between a first location and a second location associated with an autonomous driving vehicle.

18. 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, the operations comprising:
determining a path for an autonomous driving vehicle, wherein the path is located within a first lane of an environment in which the autonomous driving vehicle is currently located;
obtaining sensor data, wherein the sensor data indicates a set of speeds for a set of moving obstacles located in a second lane of the environment and wherein the second lane is adjacent to the first lane;
determining whether the set of speeds for the set of moving obstacles located in the second lane is lower than a threshold speed, wherein the second lane is an exit lane;
determining a new speed for the autonomous driving vehicle located within the first lane to be at least 20% lower than a speed limit for the first lane based on the speed limit for the first lane, a current speed of the autonomous driving vehicle, and the set of speeds for the set of moving obstacles located in the second lane in response to determining that the set of speeds for the set of moving obstacles located in the second lane is lower than the threshold speed; and

controlling the autonomous driving vehicle based on the path and the new speed.

Assignees

• Baidu Usa Llc

Inventors

• Tao Jiaming
• Zhang Liangliang
• Li Dong
• Jiang Yifei
• Hu Jiangtao
• Zhu Fan

Classifications

• B60W60/0027

  using trajectory prediction for other traffic participants · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• B60W60/0016

  of the vehicle or its occupants · CPC title

• B60W30/162

  Speed limiting therefor · CPC title

• B60W30/18163

  Lane change; Overtaking manoeuvres · CPC title