According to some embodiments, a system operates an ADV. In one embodiment, the system perceives a driving environment surrounding the ADV based on sensor data obtained from a plurality of sensors, including perceiving a moving obstacle that is moving relative to the ADV. The system projects the moving obstacle as a figure onto a station-time (ST) coordinate system, wherein the ST coordinate system indicates a distance between the figure and a reference point at different points in time. And the system, for each of a plurality of predetermined processing time intervals, determines two points of the figure in the ST coordinate system to represent a shape of the figure, wherein the shape of the figure is utilized to plan a trajectory to drive the ADV to avoid colliding with the moving obstacle.


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    Title :

    Method on moving obstacle representation for trajectory planning


    Contributors:
    ZHANG LIANGLIANG (author) / LI DONG (author) / HU JIANGTAO (author) / TAO JIAMING (author) / JIANG YIFEI (author) / ZHU FAN (author)

    Publication date :

    2020-10-27


    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 / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze



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