GAP-BASED SPEED CONTROL METHOD FOR AUTOMATED DRIVING SYSTEM

摘要

PROBLEM TO BE SOLVED: To implement balanced speed and distance control proximate to objects of interest to favorably provide a feeling of comfort to a driver and passengers in an autonomous vehicle.SOLUTION: An automated driving system includes a perception system associated with an autonomous vehicle. Sensors in communication with the perception system can detect an object of interest. Based on information specific to the environment surrounding the autonomous vehicle, the automated driving system can determine a vehicle path proximate to the object of interest. Based on properties of the object of interest, the automated driving system can determine a preferred gap between the vehicle path and the object of interest. The automated driving system can also determine an actual gap between the vehicle path and the object of interest. Based on the difference between the preferred gap and the actual gap, the automated driving system can determine a speed change profile for the autonomous vehicle along the vehicle path and control the autonomous vehicle to follow the vehicle path according to the speed change profile.SELECTED DRAWING: Figure 1