US 11,970,166 B2
Speed generation in cautious driving for autonomous vehicles
Yue Liu, San Jose, CA (US)
Assigned to BEIJING VOYAGER TECHNOLOGY CO., LTD., Beijing (CN)
Filed by Beijing Voyager Technology Co., Ltd., Beijing (CN)
Filed on Dec. 22, 2021, as Appl. No. 17/558,816.
Prior Publication US 2023/0192082 A1, Jun. 22, 2023
Int. Cl. B60W 30/14 (2006.01); B60W 30/16 (2020.01); B60W 40/04 (2006.01); B60W 40/105 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/143 (2013.01) [B60W 30/16 (2013.01); B60W 40/04 (2013.01); B60W 40/105 (2013.01); B60W 60/0015 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/80 (2020.02); B60W 2555/60 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A computer-implemented method for autonomous driving comprising:
receiving, from a driving system including one or more hardware processors onboard an autonomous vehicle, a non-yield backup prediction for the vehicle regarding a traffic participant in a region of interest in a road network surrounding the vehicle, the non-yield backup prediction including a non-yield probability value for the traffic participant not yielding to the vehicle;
obtaining, from a sensor system onboard the vehicle, driving information for other traffic participants surrounding the vehicle within the region of interest, the driving information including a speed of each of the other traffic participants;
determining, by the driving system, an average speed of the other traffic participants;
determining, by the driving system, a cautious driving speed for the vehicle by calculating a reverse probability value and multiplying the average speed of the other traffic participants by the reverse probability value, the reverse probability value being a reverse percentage of the non-yield probability value relative to a maximum value for the non-yield probability value; and
with a speed of the vehicle being greater than the cautious driving speed, controlling, by the driving system, the vehicle to reduce the speed of the vehicle to the cautious driving speed.