The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 29, 2021
Filed:
Oct. 19, 2018
Baidu Usa Llc, Sunnyvale, CA (US);
Yajia Zhang, Sunnyvale, CA (US);
Kecheng Xu, Sunnyvale, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
Abstract
A method, apparatus, and system for generating an optimal path for an autonomous driving vehicle (ADV) are disclosed. The method includes receiving optimization inputs comprising an ADV starting state, a maximal lateral jerk, and static obstacle boundaries with respect to a reference line; receiving optimization constraints comprising constraints relating to the maximal lateral jerk and avoidance of one or more static obstacles; receiving a cost function associated with an optimization objective, the cost function comprising a first term relating to cumulative lateral distances, a second term relating to cumulative first order lateral rates of change, and a third term relating to cumulative second order lateral rates of change; generating planned ADV states as optimization results with nonlinear optimization, by minimizing a value of the cost function; and generating control signals to control the ADV based on the plurality of planned ADV states.