Patent ID: 11878716
Assignee: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 15:
16. The apparatus according to claim 11, wherein the at least one processor is further configured to:
compute, according to the acquired traveling parameter of the autonomous vehicle, a speed of the autonomous vehicle when entering the vehicle-converging area;
predict, according to the driving intention of the obstacle vehicle, a speed of the obstacle vehicle when entering the vehicle-converging area and update at least one of time when the obstacle vehicle enters the vehicle-converging area and time when the obstacle vehicle leaves the vehicle-converging area; and
plan the autonomous vehicle to overtake or yield according to the computed speed of the autonomous vehicle when entering the vehicle-converging area and the predicted speed of the obstacle vehicle when entering the vehicle-converging area, under a condition that a difference between the computed time when the autonomous vehicle enters the vehicle-converging area and the predicted time when the obstacle vehicle enters the vehicle-converging area is smaller than a preset value.