일 실시예에 있어서, 시스템은 ADV의 이미지 포착 장치로부터 ADV의 환경을 감지한 포획된 이미지를 수신하되, 포획된 이미지는 ADV 근처에서 운동 중인 장애물을 인식하기 위한 이미지이다. 시스템은 이동하는 장애물의 투영을 기반으로, 이동하는 장애물 주변의 주행 가능한 영역을 생성한다. ADV가 주행 가능한 영역 내에 위치할 경우, 시스템은 ADV의 상한 속도 제한을 확정한다. 시스템은 ADV가 주행 가능한 영역 내에 위치할 경우 ADV를 감속시키기 위해, 상한 속도 제한보다 작은 궤적 속도를 구비하는 궤적에 따라 ADV를 자율적으로 제어하도록, 해당 궤적을 생성한다.

    In one embodiment, a system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV, where the captured image identifies an obstacle in motion near the ADV. The system generates a feasible area surrounding the moving obstacle based on a projection of the moving obstacle. If the ADV is within the feasible area, the system determines an upper bound velocity limit for the ADV. The system generates a trajectory having a trajectory velocity less than the upper bound velocity limit to control the ADV autonomously according to the trajectory such that if the ADV is within the feasible area the ADV is to decelerate.


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    Title :

    A pedestrian interaction system for low speed scenes for autonomous vehicles


    Additional title:

    자율 주행 차량의 저속 정경을 위한 보행자 상호 작용 시스템


    Contributors:
    ZHU FAN (author) / MA LIN (author)

    Publication date :

    2021-06-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06K Erkennen von Daten , RECOGNITION OF DATA



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