Path generation for static obstacle avoidance

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:

• obtaining a plurality of path inputs comprising a lateral starting state for an autonomous driving vehicle (ADV), a longitudinal starting state for the ADV, a threshold lateral jerk, and a set of static obstacle boundaries with respect to a reference line;
• obtaining a plurality of path constraints comprising a first constraint related to the threshold lateral jerk, a second constraint related to avoidance of one or more static obstacles, and a third constraint related to a threshold lateral velocity;
• obtaining a cost function associated with a path objective, the cost function comprising a first term relating to cumulative lateral distances, a second term relating to cumulative first order lateral rates of change, and a third term relating to cumulative second order lateral rates of change;
• generating a plurality of planned ADV states as path results based on the plurality of path inputs, the plurality of path constraints, and the cost function, wherein the path results minimize a value of the cost function;
• and
• generating one or more control signals to control the ADV based on the plurality of planned ADV states.

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:
• obtaining a plurality of path inputs comprising a lateral starting state for an autonomous driving vehicle (ADV), a longitudinal starting state for the ADV, a threshold lateral jerk, and a set of static obstacle boundaries with respect to a reference line;
• obtaining a plurality of path constraints comprising a first constraint related to the threshold lateral jerk, a second constraint related to avoidance of one or more static obstacles, and a third constraint related to a threshold lateral velocity;
• obtaining a cost function associated with a path objective, the cost function comprising a first term relating to cumulative lateral distances, a second term relating to cumulative first order lateral rates of change, and a third term relating to cumulative second order lateral rates of change;
• generating a plurality of planned ADV states as path results based on the plurality of path inputs, the plurality of path constraints, and the cost function, wherein the path results minimize a value of the cost function;
• and
• generating one or more control signals to control the ADV based on the plurality of planned ADV states.