公开(公告)号：US11724717B2

公开(公告)日：2023-08-15

申请号：US16627748

申请日：2019-12-20

申请人： Baidu USA LLC ,  Baidu.com Times Technology (Beijing) Co., Ltd.

发明人： Xin Xu ,  Fan Zhu ,  Yu Dong ,  Lin Ma

IPC分类号： B60W60/00 ,  B60W30/09

CPC分类号： B60W60/0016 ,  B60W30/09

摘要： Various embodiments of the invention enable an ADV to dynamically adjust its behaviors to emulate behaviors of a vehicle operated by a human driver when the ADV encounters an obstacle. A dynamic cost function can be used to collect real-time values of a set of parameters, and use the real-time values to constantly adjust a preferred safety distance where the ADV can be stopped ahead of the obstacle. An method includes determining a first distance to the obstacle in response to detecting an obstacle ahead of the ADV; and for each of a number of iterations, collecting a real-time value for each of a set of parameters, determining an offset to the first distance using the real-time value for each of the set of parameters, calculating a second distance based on the first distance and the offset, and controlling the ADV in view of the second distance using an expected value of each of the set of parameters, such that the ADV can stop at a point having the second distance to the obstacle.