Multi-layer grid based open space planner

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:

• performing path planning using a multi-layer grid searching algorithm to position the ADV in a target position, including,
• defining a first layer grid including a first set of one or more nodes, the first layer grid representing an open space in which the target position is located,
• defining a second layer grid including a second set of one or more nodes corresponding to at least a portion of the first set of one or more nodes,
• iteratively performing following operations from a start node until a goal node, including
• searching in the first set of one or more nodes and the second set of one or more nodes to identify a set of next node candidates,
• for each next node candidate of the set of next node candidates, determining a cost using a cost function, and
• selecting a next node having a lowest cost from the set of next node candidates based on their respective costs;
• and
• generating a path trajectory of the ADV based on the start node, the selected nodes and the goal node to control the ADV to position the ADV at the target position autonomously according to the path 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
• performing path planning using a multi-layer grid searching algorithm to position the ADV in a target position, including,
• defining a first layer grid including a first set of one or more nodes, the first layer grid representing an open space in which the target position is located,
• defining a second layer grid including a second set of one or more nodes corresponding to at least a portion of the first set of one or more nodes,
• iteratively performing following operations from a start node until a goal node, including
• searching in the first set of one or more nodes and the second set of one or more nodes to identify a set of next node candidates,
• for each next node candidate of the set of next node candidates, determining a cost using a cost function, and
• selecting a next node having a lowest cost from the set of next node candidates based on their respective costs;
• and
• generating a path trajectory of the ADV based on the start node, the selected nodes
• and the goal node to control the ADV to position the ADV at the target position autonomously according to the path trajectory.