Relaxation optimization model to plan an open space trajectory for autonomous vehicles
US11409284B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 15, 2019 |
| Grant date | Aug 9, 2022 |
| Priority date | — |
| Expiry date | Jul 22, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F16/9537
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In one embodiment, an open space model is generated for a system to plan trajectories for an ADV in an open space. The system perceives an environment surrounding an ADV including one or more obstacles. The system determines a target function for the open space model based on constraints for the one or more obstacles and map information. The system iteratively, performs a first quadratic programming (QP) optimization on the target function based on a first trajectory while fixing a first set of variables, and performs a second QP optimization on the target function based on a result of the first QP optimization while fixing a second set of variables. The system generates a second trajectory based on results of the first and the second QP optimizations to control the ADV autonomously according to the second trajectory.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.