Patent ID: 11919537
Assignee: BAIDU USA LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 5:
6. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:
determining a set of dynamic vehicle parameters of an autonomous driving vehicle (ADV) associated with a road location based on outputs of an inertial measurement unit (IMU) of the ADV measured when the ADV is traveling through the road location, wherein the set of dynamic vehicle parameters comprise a pitch angle changing rate, a z-axis acceleration, and a z-axis jerk;
determining whether the set of dynamic vehicle parameters satisfy one of a first set of criteria or a second set of criteria;
in response to the dynamic vehicle parameters satisfying the first set of criteria for a first predetermined quantity of times or satisfying the second set of criteria for a second predetermined quantity of times, adjusting a speed limit associated with the road location within a limited range spanning from a minimum speed limit to a maximum speed limit, wherein the first set of criteria comprises that the pitch angle changing rate is above a pitch angle changing rate threshold, the z-axis acceleration is above a z-axis acceleration threshold, and the z-axis jerk is above a z-axis jerk threshold, and wherein in response to the set of dynamic vehicle parameters having satisfied the first set of criteria for the first predetermined quantity of times, the speed limit associated with the road location is adjusted downward by a first predetermined amount, subject to an adjustment floor corresponding to the minimum speed limit; and
controlling operations of the ADV when the ADV subsequently travels through the road location based at least in part on the adjusted speed limit.