Planning control in response to a driving obstruction during operation of an autonomous driving vehicle (ADV)

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:

• providing autonomous driving control for a vehicle using a first route plan based on a first set of driving rules, wherein the first set of driving rules include traffic rules providing guidance on traffic rules in jurisdictions, route rules providing guidance on preferences for routes, and ride comfort rules having preferences for speed or terrain;
• recognizing, using one or more sensors of the vehicle, an occurrence of a driving obstruction, wherein recognizing the occurrence of a driving obstruction includes perceiving objects indicative of a potential obstruction and determining whether one or more other vehicles are at standstill or crossing over a median line;
• in response to recognizing the driving obstruction, detecting a traffic flow pattern of the one or more other vehicles, including analyzing traffic flow pattern data by determining whether a number of vehicles within the one or more vehicles performing a maneuver exceeds a predetermined threshold related to the maneuver and converting a speed and direction of the one or more other vehicles within the detected traffic flow pattern into vectors;
• determining a second route plan based on the detected traffic flow pattern, wherein determining the second route plan includes determining a trajectory for the vehicle to follow as a maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles, including
• determining a trajectory for the vehicle to follow as the maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles,
• determining a detour for the vehicle to follow in response to the driving obstruction,
• comparing the detour to the maneuver based on one or more factors, and
• determining to perform the maneuver over the detour based on the comparison of factors, wherein comparing the detour to the maneuver includes determining a traffic flow speed factor of the other vehicles maneuvering in response to the driving obstruction, wherein the traffic flow speed factor is used to determine an estimated time for the vehicle to maneuver around the driving obstruction, and determining an estimated time factor for the vehicle to complete the detour based on real-time traffic information;
• and
• updating the first route plan with the second route plan utilizing the first set of rules to continue providing the autonomous driving control for the vehicle.

A data processing system for providing autonomous driving control for a vehicle, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
• providing autonomous driving control for the vehicle using a first route plan based on a first set of driving rules wherein the first set of driving rules include traffic rules providing guidance on traffic rules in jurisdictions, route rules providing guidance on preferences for routes, and ride comfort rules having preferences for speed or terrain;
• recognizing, using one or more sensors of the vehicle, an occurrence of a driving obstruction, wherein recognizing the occurrence of a driving obstruction includes perceiving objects indicative of a potential obstruction and determining whether one or more other vehicles are at standstill or crossing over a median line;
• in response to recognizing the driving obstruction, detecting a traffic flow pattern of the one or more other vehicles, including analyzing traffic flow pattern data by determining whether a number of vehicles within the one or more vehicles performing a maneuver exceeds a predetermined threshold related to the maneuver and converting a speed and direction of the one or more other vehicles within the detected traffic flow pattern into vectors;
• determining a second route plan based on the detected traffic flow pattern, wherein determining the second route plan includes determining a trajectory for the vehicle to follow as a maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles, including
• determining a trajectory for the vehicle to follow as the maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles,
• determining a detour for the vehicle to follow in response to the driving obstruction,
• comparing the detour to the maneuver based on one or more factors, and
• determining to perform the maneuver over the detour based on the comparison of factors, wherein comparing the detour to the maneuver includes determining a traffic flow speed factor of the other vehicles maneuvering in response to the driving obstruction, wherein the traffic flow speed factor is used to determine an estimated time for the vehicle to maneuver around the driving obstruction, and determining an estimated time factor for the vehicle to complete the detour based on real-time traffic information;
• and
• updating the first route plan with the second route plan utilizing the first set of rules to continue providing the autonomous driving control for the vehicle.