DP and QP based decision and planning for autonomous driving vehicles

A technology for autonomous driving and vehicles, applied in the direction of autonomous decision-making processes, motor vehicles, vehicle components, etc.

Active Publication Date: 2019-03-19
BAIDU USA LLC
View PDF11 Cites 8 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • DP and QP based decision and planning for autonomous driving vehicles
  • DP and QP based decision and planning for autonomous driving vehicles
  • DP and QP based decision and planning for autonomous driving vehicles

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0032] 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.

[0033] 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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

According to some embodiments, a system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and an obstacle information describing one or more obstacles perceived by the ADV. The system generates a speed profile based on the path profile, where the speed profile includes, for each of the obstacles,a decision to yield or overtake the obstacle. The system performs a quadratic programming optimization on the path profile and the speed profile to identify an optimal path with optimal speeds. The system generates a second trajectory based on the optimal path and optimal speeds to control the ADV autonomously 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 Quadratic Programming (QP) 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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/021G05D1/0231G05D1/0238G05D1/0246G05D1/0257G05D1/027G05D1/0278G05D2201/0212G05D1/0274G05D1/0217G05D2201/0213G08G1/16B60W30/10B60W30/16B60W2720/103B60W2050/0013B60W50/0098B60W2554/00B60W2556/50B60W60/0011G06V20/58G06V20/56G05D1/0212G05D1/0055G05D1/0088B60W30/08G08G1/01
Inventor 朱帆孔旗朱伟铖樊昊阳庄立
Owner BAIDU USA LLC
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap