- Sunnyvale CA, US Haoyang Fan - Sunnyvale CA, US Li Dong - Sunnyvale CA, US Jiangtao Hu - Sunnyvale CA, US Yifei Jiang - Sunnyvale CA, US
International Classification:
G05D 1/02 B60W 40/072
Abstract:
A station-time (S-T) graph may be obtained in response to a first reference line representing a path from a first location to a second location associated with an autonomous driving vehicle (ADV). One or more kernels may be applied to the S-T graph. Each of the one or more kernels may indicate a plurality of points on the S-T graph. One or more constraints may be applied to the S-T graph. Each of the one or more constraints may indicate a condition for points in the S-T graph. A set of speeds for portions of the path is determined based on the one or more kernels and the one or more constraints.
Determining Driving Paths For Autonomous Driving Vehicles Based On Offset Points
- Sunnyvale CA, US Li Dong - Sunnyvale CA, US Fan Zhu - Sunnyvale CA, US Yifei Jiang - Sunnyvale CA, US Jiangtao Hu - Sunnyvale CA, US
International Classification:
G01C 21/34 G05D 1/00 G05D 1/02
Abstract:
A first reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV). In response to the first reference line multiple sets of sample points are generated based on the first reference line. Each set of sample points includes a first subset of sample points and a second subset of sample points that are offset from the first subset of sample points. A plurality of segments is generated between the multiple sets of sample points. A path for the ADV is generated based on the plurality of segments. The path includes one sample point from each of the multiple sets of sample points.