Cost-based path planning for autonomous driving vehicles

Abstract

According to some embodiments, a system generates a number of possible decisions for routing the ADV from a first location to a second location based on perception information perceiving a driving environment surrounding the ADV, including one or more obstacles in view of a set of traffic rules. The system calculates a number of trajectories based on a combination of one or more of the possible decisions. The system calculates a total cost for each of the trajectories using a number of cost functions and selects one of the trajectories with a minimum total cost as the driving trajectory to control the ADV autonomously. The cost functions include a path cost function, a speed cost function, and an obstacle cost function.

Description

technical field [0001] Embodiments of the present disclosure generally relate to operating an autonomous vehicle. More specifically, embodiments of the present disclosure relate to cost-based path planning for autonomous vehicles (ADVs). Background technique [0002] Vehicles operating in an autonomous mode (e.g., driverless) can free passengers, and especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. [0003] Motion planning and control are key operations in autonomous driving. However, motion planning and control can be open-ended and can be difficult to optimize without some initial constraints. Furthermore, motion planning and control is applied in some cases to all types of vehicles which may be imprecise and unstable. Contents of the invention [0004] Th...

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Problems solved by technology

However, motion planning and control can be open-ended and can be difficult to optimize without some initial constraints

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