Random shift based path centering system for autonomous vehicles
AssigneeBaidu USA LLC
InventorFAN ZHU
Life of this patent
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Abstract
Embodiments of the present disclosures disclose a method and a system to generate a path planning trajectory with a random lateral shift for an autonomous driving vehicle (ADV). In one embodiment, a system generates a reference line to navigate the ADV from a start location to a destination location. The system determines a lateral shift distance value to shift a lane center for the reference line. The system generates a shifted trajectory using the reference line based on the lateral shift distance value. The system controls the ADV based on the shifted trajectory to navigate the ADV.
Claims21
A computer-implemented method to operate an autonomous driving vehicle (ADV), the method comprising:
- generating a reference line to navigate the ADV from a start location to a destination location;
- determining a lateral shift distance value to shift a lane center for the reference line, the lateral shift distance value being determined using a random number generation algorithm;
- generating a shifted trajectory using the reference line based on the lateral shift distance value;
- and
- controlling the ADV based on the shifted trajectory to navigate the ADV.
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:
- generating a reference line to navigate the ADV from a start location to a destination location;
- determining a lateral shift distance value to shift a lane center for the reference line, the lateral shift distance value being determined using a random number generation algorithm;
- generating a shifted trajectory using the reference line based on the lateral shift distance value;
- and
- controlling the ADV based on the shifted trajectory to navigate the ADV.
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
- generating a reference line to navigate the ADV from a start location to a destination location;
- determining a lateral shift distance value to shift a lane center for the reference line, the lateral shift distance value being determined using a random number generation algorithm;
- generating a shifted trajectory using the reference line based on the lateral shift distance value;
- and
- controlling the ADV based on the shifted trajectory to navigate the ADV.
Dependencies are inferred from the claim text.