NON-BLOCKING BOUNDARY FOR AUTONOMOUS VEHICLE PLANNING

According to some embodiments, a system generates a driving trajectory from a starting point to a destination point for an ADV. In one embodiment, the system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and blocking obstacles perceived by the ADV. The system determines non-blocking obstacles perceived by the ADV. The system generates a speed profile of the ADV for the path profile based on the non-blocking obstacles to identify a speed of the ADV to avoid the blocking obstacles in view of the non-blocking obstacles. The system generates a second trajectory based on the path profile and the speed profile to control the ADV autonomously according to the second trajectory.