Open space path planning using inverse reinforcement learning

US11656627B2 · kind B2 · utility

Assignee

• BAIDU USA LLC · US

Inventors

• Jinyun Zhou · Sha Tin, CN
• Qi Luo · Sunnyvale, US
• Shu Jiang · Sunnyvale, US
• Jiaming Tao · Sunnyvale, US
• Yu Wang · Sunnyvale, US
• Jiaxuan Xu · Sunnyvale, US
• Kecheng Xu · Sunnyvale, US
• Jinghao Miao · Sunnyvale, US
• Jiangtao Hu · Sunnyvale, US

Key dates

• Filing date: Mar 23, 2020
• Grant date: May 23, 2023
• Expiry date: Mar 13, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0246
• WIPO field: Control
• WIPO sector: Instruments

Abstract

In one embodiment, a method determines a route from a first location of an autonomous driving vehicle (ADV) to a second location within an open space, the first location being a current location of the ADV. The method determines an objective function based on the route, the objective function having a set of costs for maneuvering the ADV from the first location to the second location. The method determines environmental conditions of the open space and uses the environmental conditions to determine a set of weights, each weight to be applied to a corresponding cost of the objective function. The method optimizes the objective function in view of one or more constraints, such that an output of the objective function reaches minimum while the one or more constraints are satisfied and generates a path trajectory with the optimized objective function to control the ADV autonomously according to the path trajectory.