Patent ID: 11904890
Assignee: BAIDU USA LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A computer-implemented method to operate an autonomous driving vehicle (ADV), comprising:
generating a first trajectory for the ADV to follow a source lane at a target lane speed limit of a target lane, the source lane being associated with a source lane speed limit that is greater than the target lane speed limit, wherein the target lane speed limit is not influenced by a speed of a vehicle in the target lane;
generating a second trajectory for the ADV to change lane from the source lane to the target lane at the target lane speed limit;
determining a first cost and a second cost for the first trajectory and the second trajectory respectively based on a rule-based cost function, wherein the cost function includes one or more cost factors based on a distance of the first or second trajectory and a speed at only an endpoint of the first or second trajectory, wherein the second cost is less than the first cost if a speed at the endpoint of the second trajectory is greater than a speed at the endpoint of the first trajectory; and
in response to determining that the second cost is lower than the first cost, controlling the ADV according to the second trajectory to change lanes from the source lane to the target lane.