According to one embodiment, an obstacle is predicted to move from a starting point to an end point based on perception data perceiving a driving environment surrounding an ADV that is driving within a lane. A longitudinal movement trajectory from the starting point to the end point is generated in view of a shape of the lane. A lateral movement trajectory from the starting point to the end point is generated, including optimizing a shape of the lateral movement trajectory using a first polynomial function. The longitudinal movement trajectory and the lateral movement trajectory are then combined to form a final predicted trajectory that predicts how the obstacle is to move. A path is generated to control the ADV to move in view of the predicted trajectory of the obstacle, for example, to avoid the collision with the obstacle.
METHOD FOR GENERATING PREDICTION TRAJECTORIES OF OBSTACLES FOR AUTONOMOUS DRIVING VEHICLES
2019-10-17
Patent
Electronic Resource
English
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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