Pull over method based on quadratic programming for path planning
US11529969B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 10, 2020 |
| Grant date | Dec 20, 2022 |
| Priority date | — |
| Expiry date | May 19, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2552/53
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
In response to a request to pull over an ADV at a destination point at a side of a lane, a path including a first segment, a second segment and a transition point is planned. The transition point is determined based on at least one of a distance to the destination point or a predetermined distance to a boundary of the side of the lane. The first segment from a start point to the transition point is generated by using a quadratic programming (QP) operation. The second segment from the transition point to the destination is generated based on a shape of the boundary. The ADV is controlled to pull over to the destination point according to the planned path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.