Non-blocking boundary for autonomous vehicle 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:

• calculating a first trajectory based on a map and a route information;
• generating a path profile based on the first trajectory, traffic rules, and blocking obstacles perceived by the ADV;
• determining non-blocking obstacles perceived by the ADV;
• generating a speed profile of the ADV for the path profile based on the non-blocking obstacles to identify a speed of the ADV to avoid the blocking obstacles in view of the non-blocking obstacles;
• and
• generating a second trajectory based on the path profile and the speed profile to control the ADV autonomously according to the second trajectory.

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 calculating a first trajectory based on a map and a route information;
• generating a path profile based on the first trajectory, traffic rules, and blocking obstacles perceived by the ADV;
• determining non-blocking obstacles perceived by the ADV;
• generating a speed profile of the ADV for the path profile based on the non-blocking obstacles to identify a speed of the ADV to avoid the blocking obstacles in view of the non-blocking obstacles;
• and
• generating a second trajectory based on the path profile and the speed profile to control the ADV autonomously according to the second trajectory.