Post collision analysis-based vehicle action optimization for autonomous driving vehicles

Abstract

It is determined an ADV is inevitable to collide with at least one of the objects surrounding the ADV based on the relative positions and speeds between the ADV and the objects in view of the physicaldimensions of the ADV. An object may be another vehicle, a pedestrian, a bicycle, a static obstacle. For each of the objects, a collision cost between the ADV and the object is calculated using a setof one or more cost functions or cost algorithms. A collision cost represents an amount of potential damage if the collision is to occur. One of the objects is selected whose collision cost is the least amongst the objects. A path or trajectory is planned for the ADV leading or towards to the selected object to minimize the potential damage when the ADV potentially collide with the selected object compared to the remaining objects.

Description

technical field [0001] Embodiments of the present disclosure generally relate to operating autonomous vehicles. More specifically, embodiments of the present disclosure relate to post-collision vehicle behavior optimization for autonomous vehicles. Background technique [0002] Vehicles operating in an autonomous mode (eg, driverless) can relieve the occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. [0003] Motion planning and control are key operations in autonomous driving. The goal of autonomous driving is to plan and navigate a road from a starting location to a destination location while following traffic rules and avoiding any collisions as much as possible. However, in some cases, accidents or collisions are unavoidable due to unforeseen chang...

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