AUTONOMOUS VEHICLE DETECTION OF AND RESPONSE TO YIELD SCENARIOS

摘要

An automated driving system and methods are disclosed. The automated driving system includes a perception system disposed on an autonomous vehicle. The automated driving system can detect an intersection including a yield scenario and identify a check point between the autonomous vehicle and the yield scenario. Prior to the autonomous vehicle reaching the check point, the automated driving system can send a command to one or more vehicle systems to control the autonomous vehicle to stop at the yield scenario. After the autonomous vehicle reaches the check point, the automated driving system can detect, using the perception system, information for the intersection. If the information indicates clear passage through the intersection for the autonomous vehicle, the automated driving system can send a command to the one or more vehicle systems to drive the autonomous vehicle through the intersection.

主权项

1. An automated driving system, comprising:
a perception system disposed on an autonomous vehicle; and a computing device in communication with the perception system, comprising: one or more processors for controlling operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:
detect preliminary information for an intersection including a yield scenario;identify a check point location between the autonomous vehicle and the yield scenario based on the preliminary information including at least one of traffic density information, an intersection type, an intersection configuration, or a presence of one or more obstacles that could at least partially obstruct a view of the intersection by the autonomous vehicle;prior to the autonomous vehicle reaching the check point, send a command to one or more vehicle systems to control the autonomous vehicle to stop at the yield scenario;after the autonomous vehicle reaches the check point, detect, using the perception system, updated information for the intersection; andif the updated information indicates clear passage through the intersection for the autonomous vehicle, send a command to the one or more vehicle systems to drive the autonomous vehicle past the yield scenario and through the intersection.