In one embodiment, a method, apparatus, and system for planning a trajectory for an autonomous driving vehicle (ADV) is disclosed. The operations comprise: receiving a plurality of optimization inputs, the plurality of optimization inputs comprising a trajectory time length, a time discretization resolution, an autonomous driving vehicle (ADV) starting state, a road shape function, a maximal jerk, and a maximal lateral acceleration; receiving a plurality of optimization constraints, the plurality of optimization constraints comprising constraints relating to the maximal jerk and the maximal lateral acceleration; receiving a cost function associated with an optimization objective, the cost function comprising a first term relating to cumulative jerk, a second term relating to an end longitudinal position, a third term relating to an end longitudinal speed, and a fourth term relating to an end longitudinal acceleration; 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.


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    Title :

    OPTIMAL LONGITUDINAL TRAJECTORY GENERATION UNDER VARIED LATERAL ACCELERATION CONSTRAINTS


    Contributors:
    ZHANG YAJIA (author)

    Publication date :

    2020-04-16


    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





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