{
  "$type": "site.standard.document",
  "description": "In one embodiment, a method, apparatus, and system for generating an optimal path for an autonomous driving vehicle (ADV) is disclosed. The operations comprise: receiving a plurality of optimization inputs, the plurality of optimization inputs comprising an autonomous driving vehicle (ADV) starting…",
  "path": "/patents/1259994",
  "publishedAt": "2020-04-23T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0088",
    "Baidu USA LLC"
  ],
  "textContent": "In one embodiment, a method, apparatus, and system for generating an optimal path for an autonomous driving vehicle (ADV) is disclosed. The operations comprise: receiving a plurality of optimization inputs, the plurality of optimization inputs comprising an autonomous driving vehicle (ADV) starting state, a maximal lateral jerk, and static obstacle boundaries with respect to a reference line; receiving a plurality of optimization constraints, the plurality of optimization constraints comprising constraints relating to the maximal lateral jerk and avoidance of one or more static obstacles; receiving a cost function associated with an optimization 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 optimization results with nonlinear optimization, wherein the optimization results minimize a value of the cost function; and generating control signals to control the ADV based on the plurality of planned ADV states.",
  "title": "OPTIMAL PATH GENERATION FOR STATIC OBSTACLE AVOIDANCE"
}