Pull over method based on quadratic programming for path planning

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• in response to a request to pull over an autonomous driving vehicle (ADV) at a destination point at a side of a lane, planning a path including a first segment, a second segment and a transition point, including
• determining the transition point based on at least one of a distance to the destination point or a predetermined distance to a boundary of the side of the lane,
• generating the first segment from a start point to the transition point by using a quadratic programming (QP) optimization, and
• generating the second segment from the transition point to the destination point based on a shape of the boundary, comprising
• determining whether the shape of the boundary is in a shape of a straight and smooth line;
• and
• controlling the ADV to pull over to the destination point according to the planned path.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
• in response to a request to pull over an autonomous driving vehicle (ADV) at a destination point at a side of a lane, planning a path including a first segment, a second segment and a transition point, including
• determining the transition point based on at least one of a distance to the destination point or a predetermined distance to a boundary of the side of the lane,
• generating the first segment from a start point to the transition point using a quadratic programming (QP) optimization, and
• generating the second segment from the transition point to the destination point based on a shape of the boundary, comprising
• determining whether the shape of the boundary is in a shape of a straight and smooth line;
• and
• controlling the ADV to pull over to the destination point according to the planned path.