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Dynamic programming and quadratic programming based decision and planning for autonomous driving vehicles
Dynamic programming and quadratic programming based decision and planning for autonomous driving vehicles
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机译:基于动态规划和二次规划的无人驾驶车辆决策与规划
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摘要
According to some embodiments, a system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and an obstacle information describing one or more obstacles perceived by the ADV. The system generates a speed profile based on the path profile, where the speed profile includes, for each of the obstacles, a decision to yield or overtake the obstacle. The system performs a quadratic programming optimization on the path profile and the speed profile to identify an optimal path with optimal speeds. The system generates a second trajectory based on the optimal path and optimal speeds to control the ADV autonomously according to the second trajectory.
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