Automotive Research & Testing Center

Bo-Han Lin

Tsung-Ming Hsu

Zhi-Hao Zhang

Ming-Kuan Ko

Chien-Feng Wu

I-Chun Kuo

A dynamic velocity planning method for an autonomous vehicle is performed to plan a best velocity curve of the autonomous vehicle. An information storing step is performed to store an obstacle information, a road information and a vehicle information. An acceleration limit calculating step is performed to calculate the vehicle information according to a calculating procedure to generate an acceleration limit value range. An acceleration combination generating step is performed to generate a plurality of acceleration combinations according to the obstacle information, the road information, and the acceleration limit value range. An acceleration filtering step is performed to filter the acceleration combinations according to a jerk threshold and a jerk switching frequency threshold to obtain a selected acceleration combination. An acceleration smoothing step is performed to execute a driving behavior procedure to adjust the selected acceleration combination to generate the best velocity curve.

Dynamic velocity planning method for autonomous vehicle and system thereof

A method of adaptive trajectory generation for a vehicle is provided. A computer device of the vehicle may update a current trajectory for the vehicle when some predetermined conditions that are related to an obstacle positioned within a predetermined distance of the vehicle are satisfied.

Method of adaptive trajectory generation for a vehicle

A method for planning a trajectory for a self-driving vehicle on a road includes: generating multiple target planned trajectory sets based on information concerning the self-driving vehicle; calculating multiple projected moving ranges and multiple projected moving speeds of an obstacle based on information concerning the obstacle, the projected moving ranges corresponding respectively with multiple time points in a driving time period, the projected moving speeds corresponding respectively with the time points; and selecting one of the target planned trajectory sets as an optimal planned trajectory set based on the target planned trajectory sets, the projected moving ranges and the projected moving speeds for the obstacle.

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Lugong, Taiwan

Bo-Han Lin