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:
Aug. 09, 2022
Filed:
May. 15, 2019
Baidu Usa Llc, Sunnyvale, CA (US);
Runxin He, Sunnyvale, CA (US);
Jinyun Zhou, Sunnyvale, CA (US);
Qi Luo, Sunnyvale, CA (US);
Shiyu Song, Sunnyvale, CA (US);
Jinghao Miao, Sunnyvale, CA (US);
Jiangtao Hu, Sunnyvale, CA (US);
Yu Wang, Sunnyvale, CA (US);
Jiaxuan Xu, Sunnyvale, CA (US);
Shu Jiang, Sunnyvale, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
Abstract
In one embodiment, an open space model is generated for a system to plan trajectories for an ADV in an open space. The system perceives an environment surrounding an ADV including one or more obstacles. The system determines a target function for the open space model based on constraints for the one or more obstacles and map information. The system iteratively, performs a first quadratic programming (QP) optimization on the target function based on a first trajectory while fixing a first set of variables, and performs a second QP optimization on the target function based on a result of the first QP optimization while fixing a second set of variables. The system generates a second trajectory based on results of the first and the second QP optimizations to control the ADV autonomously according to the second trajectory.