US 12,134,402 B2
Planning under prediction with confidence region for an autonomous driving vehicle
Shu Jiang, Sunnyvale, CA (US); Yu Cao, Sunnyvale, CA (US); Weiman Lin, Sunnyvale, CA (US); Jiangtao Hu, Sunnyvale, CA (US); and Jinghao Miao, Sunnyvale, CA (US)
Assigned to BAIDU USA LLC, Sunnyvale, CA (US)
Filed by Baidu USA LLC, Sunnyvale, CA (US)
Filed on Dec. 29, 2021, as Appl. No. 17/564,933.
Prior Publication US 2023/0202516 A1, Jun. 29, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); G06V 20/58 (2022.01)
CPC B60W 60/0011 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 60/00274 (2020.02); G06V 20/58 (2022.01); B60W 2554/4041 (2020.02); B60W 2556/10 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
detecting an obstacle based on sensor data obtained from a plurality of sensors of the ADV;
predicting a distribution of a plurality of positions of the obstacle at a point of time;
determining a range of positions of the plurality of positions of the obstacle based on a confidence level of the range;
determining a modified shape with a modified length of the obstacle based on the range of positions of the obstacle;
planning a trajectory of the ADV based on the modified shape with the modified length of the obstacle; and
controlling the ADV to drive according to the planned trajectory to drive safely to avoid a collision with the obstacle.