Speed planning using a speed planning guideline for idle speed of autonomous driving vehicles

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

• perceiving a driving environment surrounding the ADV based on sensor data obtained from a plurality of sensors, including determining a current speed of the ADV;
• receiving a request for driving with an idle speed;
• determining whether the current speed of the ADV is below a predetermined speed threshold;
• in response to determining the current speed of the ADV is below the predetermined speed threshold and receiving the request for driving with an idle speed, generating a speed guideline based on an idle speed curve in view of the current speed of the ADV, wherein the idle speed refers to a speed that the ADV moves without pressing a gas pedal and without pressing a brake pedal;
• performing a speed planning operation by optimizing a cost function based on the speed guideline to determine speeds of a plurality of trajectory points along a trajectory planned to drive the ADV;
• and
• generating a plurality of control commands to control the ADV with the planned speeds along the trajectory, such that the ADV moves according to an intended idle speed.

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 operating an autonomous driving vehicle (ADV), the operations including
• perceiving a driving environment surrounding the ADV based on sensor data obtained from a plurality of sensors, including determining a current speed of the ADV,
• receiving a request for driving with an idle speed,
• determining whether the current speed of the ADV is below a predetermined speed threshold,
• in response to determining the current speed of the ADV is below the predetermined speed threshold and receiving the request for driving with an idle speed, generating a speed guideline based on an idle speed curve in view of the current speed of the ADV, wherein the idle speed refers to a speed that the ADV moves without pressing a gas pedal and without pressing a brake pedal,
• performing a speed planning operation by optimizing a cost function based on the speed guideline to determine speeds of a plurality of trajectory points along a trajectory planned to drive the ADV, and
• generating a plurality of control commands to control the ADV with the planned speeds along the trajectory, such that the ADV moves according to an intended idle speed.