An obstacle is detected based on sensor data obtained from a plurality of sensors of the ADV. Multiple trajectories of the obstacle are predicted with corresponding probabilities including a first predicted trajectory of the obstacle with a highest probability and a second predicted trajectory of the obstacle with a second highest probability. A cautionary trajectory of the ADV is planned based on at least one of a difference between the highest probability and the second highest probability or a consequence of the second trajectory. The ADV is to drive with a speed lower than a speed limit and prepare to stop in the cautionary trajectory. The ADV is controlled to drive according to the cautionary trajectory.
DRIVE WITH CAUTION UNDER UNCERTAINTY FOR AN AUTONOMOUS DRIVING VEHICLE
29.06.2023
Patent
Elektronische Ressource
Englisch
DRIVE WITH CAUTION UNDER UNCERTAINTY FOR AN AUTONOMOUS DRIVING VEHICLE
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