Fastest lane determination algorithm under traffic jam

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:

• tracking, over a first time period from the first time instant to a second time instant, a plurality of vehicles traveling in a plurality of lanes, including determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling;
• identifying, after the second time instant and for each of the plurality of lanes, at least a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in the lane over the first time period;
• determining, for each of the plurality of lanes, an average speed over the first time period of the representative vehicles associated with the lane;
• and
• planning a trajectory for the ADV based on the average speed of the representative vehicles associated with each of the plurality of lanes for possible lane changing.

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
• tracking, over a first time period from the first time instant to a second time instant, a plurality of vehicles traveling in a plurality of lanes, including determining at each perception cycle and for each of the plurality of vehicles, a lane in which the vehicle is traveling and a location within the lane in which the vehicle is traveling,
• identifying, after the second time instant and for each of the plurality of lanes, at least a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in the lane over the first time period,
• determining, for each of the plurality of lanes, an average speed over the first time period of the representative vehicles associated with the lane, and
• planning a trajectory for the ADV based on the average speed of the representative vehicles associated with each of the plurality of lanes for possible lane changing.