Method for enhancing in-path obstacle detection with safety redundancy autonomous system

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of an obstacle detection for an autonomous driving vehicle (ADV), the operations comprising:

• detecting an obstacle by a primary autonomous driving system (ADS) and a secondary ADS using an obstacle detection algorithm based on sensor data provided by a plurality of sensors on the ADV;
• calculating a first controlled stop distance and a second controlled stop distance by the primary ADS and secondary ADS respectively, based on a speed and a deceleration capability of the ADV in response to detecting the obstacle;
• exchanging the first and second controlled stop distances between the primary ADS and secondary ADS to determine a third controlled stop distance;
• and
• activating a controlled stop operation by the primary ADS to decelerate the ADV based on the third controlled stop distance, in response to determining that the ADV reaches within the third controlled distance between the ADV and the obstacle.

A data processing system, 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 of an obstacle detection for an autonomous driving vehicle (ADV), the operations including:
• detecting an obstacle by a primary autonomous driving system (ADS) and a secondary ADS using an obstacle detection algorithm based on sensor data provided by a plurality of sensors on the ADV;
• calculating a first controlled stop distance and a second controlled stop distance by the primary ADS and secondary ADS respectively based on a speed and a deceleration capability of the ADV in response to detecting the obstacle;
• exchanging the first and second controlled stop distances between the primary ADS and secondary ADS to determine a third controlled stop distance;
• and
• activating a controlled stop operation by the primary ADS to decelerate the ADV based on the third controlled stop distance, in response to determining that the ADV reaches within the third controlled distance between the ADV and the obstacle.