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.


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    Titel :

    Optimal path generation for static obstacle avoidance


    Beteiligte:
    ZHANG YAJIA (Autor:in) / XU KECHENG (Autor:in)

    Erscheinungsdatum :

    2021-06-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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



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