Huawei Technologies Co., Limited

Shenzhen Yinwang Intelligent Technologies Co., Ltd.

Shaoyu Yang

Chao Wang

Xinyu Wang

Weize Zhang

A trajectory planning method for an autonomous vehicle includes a lateral displacement planner that plans a preliminary traveling trajectory for an autonomous driving vehicle based on perceptual data, positioning data, and map information, where the preliminary traveling trajectory includes N road points, and each road point includes coordinate information of the road point and allowable lateral error information of the road point. A longitudinal speed planner inherits all or some of the N road points output by the lateral displacement planner and determines speed information of a subset of the N road points based on traffic road condition information and the perception data to obtain a target traveling trajectory. The speed information is a drivable speed of the autonomous driving vehicle. The target traveling trajectory includes the subset of the N road points, each including the drivable speed of the autonomous driving vehicle.

Trajectory planning method and apparatus

Methods, apparatus, and computer programs stored on a computer-readable storage medium for obstacle avoidance are provided. One example method includes obtaining vehicle information, obstacle information, and a drivable area of a vehicle at a moment t, and processing the drivable area based on the vehicle information and the obstacle information to obtain a potential energy grid map. The method can include obtaining information about a center line of a lane in which the vehicle is currently located, and obtaining a parallel-line track cluster based on the information about the lane center line. The method can include calculating a cost value of each parallel-line track, and performing time-domain filtering on a parallel-line track with a minimum cost value in the parallel-line track cluster to obtain a target track at the moment t specifying a parallel line track that is used by the vehicle to avoid an obstacle.

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Beijing, China

Shaoyu Yang