Path planning with a preparation distance for a lane-change
US11061403B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 12, 2019 |
| Grant date | Jul 13, 2021 |
| Priority date | — |
| Expiry date | Dec 12, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/167
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.