According to some embodiments, a system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and an obstacle information describing one or more obstacles perceived by the ADV. The system generates a speed profile based on the path profile, where the speed profile includes, for each of the obstacles, a decision to yield or overtake the obstacle. The system performs a quadratic programming optimization on the path profile and the speed profile to identify an optimal path with optimal speeds. The system generates a second trajectory based on the optimal path and optimal speeds to control the ADV autonomously according to the second trajectory.


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    Title :

    Dynamic programming and quadratic programming based decision and planning for autonomous driving vehicles


    Contributors:
    ZHU FAN (author) / KONG QI (author) / ZHU WEICHENG (author) / FAN HAOYANG (author) / ZHUANG LI (author)

    Publication date :

    2020-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS





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