In one embodiment, a method, apparatus, and system for generating an optimal path for an autonomous driving vehicle (ADV) is disclosed. The operations comprise: receiving a plurality of optimization inputs, the plurality of optimization inputs comprising an autonomous driving vehicle (ADV) starting state, a maximal lateral jerk, and static obstacle boundaries with respect to a reference line; receiving a plurality of optimization constraints, the plurality of 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 a plurality of planned ADV states as optimization results with nonlinear optimization, wherein the optimization results minimize 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
2020-04-23
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 |
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