Patent ID: 11878712
Assignee: BAIDU USA LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A computer-implement method for operating an autonomous driving vehicle (ADV), the method comprising:
perceiving a driving environment surrounding the ADV based on sensor data obtained from a plurality of sensors mounted on the ADV, including determining an affected region of the ADV;
planning a first trajectory to autonomously drive the ADV through at least a portion of the affected region based on the driving environment;
in response to detecting an obstacle positioned within the affected region, determining an expected residence time of the obstacle based on a probability of a residence time of the obstacle in the affected region using a probability density function, wherein the probability density function is based on a set of one or more parameters representing at least one of a driving scenario, a type of the obstacle, or a behavior of the obstacle, the expected resident time representing an amount of time the obstacle is expected to stay within the affected region, wherein the one or more parameters of the probability density function are based on prior driving statistics data collected from a variety of vehicles driving under a plurality of driving scenarios, wherein the one or more parameters include a first parameter which determines a shape and a size of a probability density curve of the probability density function, and wherein the determining the expected residence time of the obstacle comprises:
configuring and storing a plurality of first parameters based on the plurality of driving scenarios;
selecting the first parameter from the plurality of first parameters via a lookup operation based on at least one of the affected region, or a region of interest (ROI), the ROI including a parking area, or an intersection; and

determining based on the expected residence time whether to plan a second trajectory in view of the obstacle staying within the affected region or to wait for a period of time to allow the obstacle to leave the affected region in order to control the ADV according to the first trajectory.