{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1308603",
  "publishedAt": "2022-01-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0221",
    "Baidu USA LLC"
  ],
  "textContent": "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.",
  "title": "RANDOM SHIFT BASED PATH CENTERING SYSTEM FOR AUTONOMOUS VEHICLES"
}