PATH AND SPEED OPTIMIZATION FALLBACK MECHANISM FOR AUTONOMOUS VEHICLES
PATH AND SPEED OPTIMIZATION FALLBACK MECHANISM FOR AUTONOMOUS VEHICLES
- New search for: ZHANG LIANGLIANG
- New search for: LI DONG
- New search for: JIANG YIFEI
- New search for: HU JIANGTAO
- New search for: ZHANG LIANGLIANG
- New search for: LI DONG
- New search for: JIANG YIFEI
- New search for: HU JIANGTAO
According to some embodiments, a system calculates (901) a first trajectory based on a map and a route information. The system performs (902) a path optimization based on the first trajectory, traffic rules, and an obstacle information describing obstacles perceived by the ADV. The path optimization is performed by performing (903) a spline curve based path optimization on the first trajectory, determining (904) whether a result of the spline curve based path optimization satisfies a first predetermined condition, performing (905) a finite element based path optimization on the first trajectory in response to determining that the result of the spline curve based path optimization does not satisfy the first predetermined condition, performing (906) a speed optimization based on a result of the path optimization, and generating (907) a second trajectory based on the path optimization and the speed optimization to control the ADV.
Document information
PATH AND SPEED OPTIMIZATION FALLBACK MECHANISM FOR AUTONOMOUS VEHICLES
FALLBACK-MECHANISMUS ZUR WEG- UND GESCHWINDIGKEITSOPTIMIERUNG FÜR AUTONOME FAHRZEUGE
MÉCANISME DE SECOURS D'OPTIMISATION DE LA VITESSE ET DE L'ITINÉRAIRE POUR VÉHICULES AUTONOMES
2020-11-18
Patent
Electronic Resource
English
| IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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