Dynamic Programming and Gradient Descent Based Decision and Planning for Autonomous Vehicles

A technology of automatic driving and vehicles, applied in the direction of vehicle position/route/height control, motor vehicles, vehicle components, etc.

Active Publication Date: 2022-02-01
BAIDU USA LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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

Method used

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  • Dynamic Programming and Gradient Descent Based Decision and Planning for Autonomous Vehicles
  • Dynamic Programming and Gradient Descent Based Decision and Planning for Autonomous Vehicles
  • Dynamic Programming and Gradient Descent Based Decision and Planning for Autonomous Vehicles

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Embodiment Construction

[0031] Various embodiments and aspects of the disclosure will be described with reference to details discussed below and illustrated in the accompanying drawings. The following description and drawings are illustrative of the present disclosure and should not be construed as limiting the present disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosure.

[0032] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. Recitations of the phrase "in one embodiment" in various places in this specification do not necessarily all refer to the same embod...

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Abstract

According to some embodiments, the system calculates the first trajectory based on map and route information. The system generates a path profile based on the first trajectory, the traffic rules, and obstacle information describing the one or more obstacles perceived by the ADV, wherein, for each obstacle in the plurality of obstacles, the path profile includes yielding or Decision to skim to the left or right of the obstacle. The system generates a speed profile according to traffic rules based on the route profile. The system performs a gradient descent optimization based on the path profile and the velocity profile to generate a second trajectory representing the optimized first trajectory, and controls the ADV according to the second trajectory.

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 Dynamic Programming (DP) and Gradient Descent based decision-making and planning for autonomous vehicles (ADV). 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/0257G05D1/027G05D1/0217G05D1/0274G05D2201/0213G01C21/3453B60W30/143B60W30/10B60W2554/00G05D1/0223B60W30/095G05D1/0238G05D1/0248B60W2720/103
Inventor 朱帆孔旗
Owner BAIDU USA LLC
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