END DYNAMICS AND CONSTRAINTS RELAXATION ALGORITHM ON OPTIMIZING AN OPEN SPACE TRAJECTORY

A method of navigating an autonomous driving vehicle (ADV) includes determining a target function for an open space model based on one or more obstacles and map information within a proximity of the ADV, then iteratively performing first and second quadratic programming (QP) optimizations on the tar...

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Bibliographic Details
Main Authors ZHOU, Jinyun, MIAO, Jinghao, XU, Jiaxuan, JIANG, Shu, LUO, Qi, WANG, Jingao, HU, Jiangtao, HE, Runxin, WANG, Yu
Format Patent
LanguageEnglish
Published 22.04.2021
Subjects
CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Summary:A method of navigating an autonomous driving vehicle (ADV) includes determining a target function for an open space model based on one or more obstacles and map information within a proximity of the ADV, then iteratively performing first and second quadratic programming (QP) optimizations on the target function. Then, generating a second trajectory based on results of the first and second QP optimizations to control the ADV autonomously using the second trajectory. The first QP optimization is based on fixing a first set of variables of the target function. The second QP optimization is based on maximizing a sum of the distances from the ADV to each of the obstacles over a plurality of points of the first trajectory, and minimizing a difference between a target end-state of the ADV and a determined final state of the ADV using the first trajectory.
Bibliography:Application Number: US201916659963