In one embodiment, a method determines a route from a first location of an autonomous driving vehicle (ADV) to a second location within an open space, the first location being a current location of the ADV. The method determines an objective function based on the route, the objective function having a set of costs for maneuvering the ADV from the first location to the second location. The method determines environmental conditions of the open space and uses the environmental conditions to determine a set of weights, each weight to be applied to a corresponding cost of the objective function. The method optimizes the objective function in view of one or more constraints, such that an output of the objective function reaches minimum while the one or more constraints are satisfied and generates a path trajectory with the optimized objective function to control the ADV autonomously according to the path trajectory.
在一个实施方式中,方法确定从开放空间内的自动驾驶车辆(ADV)的第一位置到第二位置的路线,第一位置是ADV的当前位置。方法基于路线确定目标函数,目标函数具有用于操控ADV从第一位置到第二位置的成本集。方法确定开放空间的环境条件,并使用环境条件来确定权重集,每个权重将应用于目标函数的对应成本。方法基于一个或多个约束优化目标函数,使得在满足一个或多个约束时,目标函数的输出达到最小,并用优化的目标函数生成路径轨迹,以根据路径轨迹自动控制ADV。
OPEN SPACE PATH PLANNING USING INVERSE REINFORCEMENT LEARNING
使用逆向强化学习的开放空间路径规划
2021-09-24
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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