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:
Nov. 14, 2023
Filed:
Oct. 22, 2019
Baidu Usa Llc, Sunnyvale, CA (US);
Runxin He, Sunnyvale, CA (US);
Yu Wang, Sunnyvale, CA (US);
Jinyun Zhou, Sunnyvale, CA (US);
Qi Luo, Sunnyvale, CA (US);
Jinghao Miao, Sunnyvale, CA (US);
Jiangtao Hu, Sunnyvale, CA (US);
Jingao Wang, Sunnyvale, CA (US);
Jiaxuan Xu, Sunnyvale, CA (US);
Shu Jiang, Sunnyvale, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
Abstract
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.