RELATIVE SPEED BASED SPEED PLANNING FOR BUFFER AREA

The invention relates to a computer-implemented method for operating an autonomous driving vehicle. The method comprises: identifying (1002) a first object of one or more objects that have entered a buffer area predefined relative to an autonomous driving vehicle (ADV); determining (1003) a first distance cost based on a first distance between the first object and the ADV; determining (1004) a first relative speed cost based on a first relative speed between the first object and the ADV; determining (1005) a first object cost associated with the first object based on a combination of the first distance cost and the first relative speed cost; performing speed planning on a trajectory planned for the ADV based at least in part on the first distance cost and the first relative speed cost; and generating (1007) control signals to drive the ADV based on the planned trajectory.