{
  "$type": "site.standard.document",
  "description": "A trajectory planning method for an autonomous vehicle includes a lateral displacement planner that plans a preliminary traveling trajectory for an autonomous driving vehicle based on perceptual data, positioning data, and map information, where the preliminary traveling trajectory includes N road…",
  "path": "/patents/1332512",
  "publishedAt": "2022-12-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0015",
    "HUAWEI TECHNOLOGIES CO., LTD."
  ],
  "textContent": "A trajectory planning method for an autonomous vehicle includes a lateral displacement planner that plans a preliminary traveling trajectory for an autonomous driving vehicle based on perceptual data, positioning data, and map information, where the preliminary traveling trajectory includes N road points, and each road point includes coordinate information of the road point and allowable lateral error information of the road point. A longitudinal speed planner inherits all or some of the N road points output by the lateral displacement planner and determines speed information of n road points based on traffic road condition information and the perception data to obtain a target traveling trajectory. The speed information is a drivable speed of the autonomous driving vehicle at each of the n road points. The target traveling trajectory includes the n road points, each of the n road points including the drivable speed of the autonomous driving vehicle at the road point.",
  "title": "TRAJECTORY PLANNING METHOD AND APPARATUS"
}