A method for generating operable driving areas for an autonomous driving vehicle based on a path trajectory of the autonomous driving vehicle is provided. The method may form a space time (ST) graph indicating a distance of travel along the path trajectory with respect to time of the autonomous driving vehicle and path trajectories of devices intersecting with the path trajectory of the autonomous driving vehicle. The method may segment the ST graph into cells, wherein viable cells represent discretized viable unoccupied spaces in the ST graph, and wherein each cell is defined at each time segment on the ST graph by minimum smin and maximum smax bounds in distance. The method may find passage ways for the autonomous driving vehicle based on the viable cells. The method may generate a lower bound and an upper bound for each passage way. The method may select a desired passage way using quadratic programming (QP) optimization when multiple passage ways are found.
MULTI-PROFILE QUADRATIC PROGRAMMING (MPQP) FOR OPTIMAL GAP SELECTION AND SPEED PLANNING OF AUTONOMOUS DRIVING
2025-04-03
Patent
Electronic Resource
English
IPC: | 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 |
European Patent Office | 2025
|European Patent Office | 2025
|European Patent Office | 2025
|European Patent Office | 2025
|European Patent Office | 2020
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