A method, apparatus, and system for generating an optimal path for an autonomous driving vehicle (ADV) are disclosed. The method includes receiving optimization inputs comprising an ADV starting state, a maximal lateral jerk, and static obstacle boundaries with respect to a reference line; receiving optimization constraints comprising constraints relating to the maximal lateral jerk and avoidance of one or more static obstacles; receiving a cost function associated with an optimization objective, the cost function comprising a first term relating to cumulative lateral distances, a second term relating to cumulative first order lateral rates of change, and a third term relating to cumulative second order lateral rates of change; generating planned ADV states as optimization results with nonlinear optimization, by minimizing a value of the cost function; and generating control signals to control the ADV based on the plurality of planned ADV states.
Optimal path generation for static obstacle avoidance
2021-06-29
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |
OPTIMAL PATH GENERATION FOR STATIC OBSTACLE AVOIDANCE
Europäisches Patentamt | 2020
|Europäisches Patentamt | 2020
|OBSTACLE AVOIDANCE DEVICE AND OBSTACLE AVOIDANCE ROUTE GENERATION DEVICE
Europäisches Patentamt | 2020
|Q-Learning-Based Obstacle Avoidance Path Planning with Local Optimal Points
Springer Verlag | 2021
|