公开(公告)号：US20220379920A1

公开(公告)日：2022-12-01

申请号：US17855175

申请日：2022-06-30

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Shaoyu Yang ,  Weize Zhang ,  Xinyu Wang

IPC: B60W60/00 ,  B60W30/12 ,  B60W30/09

Abstract: 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.

公开(公告)号：US20250013875A1

公开(公告)日：2025-01-09

申请号：US18885379

申请日：2024-09-13

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Alexander Imani Cowen-Rivers ,  Yilun Yang ,  Shaoyu Yang ,  Rasul Tutunov ,  Aivar Sootla ,  Haitham Bou Ammar ,  Hongbo Zhang

IPC: G06N3/0985 ,  B60W60/00 ,  G06N3/045 ,  G06N7/01

Abstract: An apparatus is provided for determining improved motion planner hyperparameters. The apparatus is configured to: receive a data pair comprising a set of hyperparameters and a utility score defining a utility of a motion planner outcome resulting from the set of hyperparameters; provide a model defining a relationship between the hyperparameters and the utility score; generate trial hyperparameters using a guidance objective configured to evaluate a quality of trial sets of hyperparameters in dependence on the model; determine a trial outcome of the motion planner based on the trial hyperparameters; and determine a new utility score of the trial hyperparameters based on comparing the trial outcome with truth data. The apparatus therefore optimises currently deployed hyperparameters by comparison with truth data in order to provide hyperparameters that can produce realistic motion planning trajectories and outperform currently deployed hyperparameters.

公开(公告)号：US12061088B2

公开(公告)日：2024-08-13

申请号：US17317294

申请日：2021-05-11

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Chao Wang ,  Xinyu Wang ,  Shaoyu Yang

IPC: G01C21/32 ,  B60W30/09 ,  B60W30/095 ,  B60W30/12 ,  G06V20/58

CPC classification number: G01C21/32 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/12 ,  G06V20/58 ,  B60W2400/00 ,  G06V2201/07

Abstract: Methods, apparatus, and computer programs stored on a computer-readable storage medium for obstacle avoidance are provided. One example method includes obtaining vehicle information, obstacle information, and a drivable area of a vehicle at a moment t, and processing the drivable area based on the vehicle information and the obstacle information to obtain a potential energy grid map. The method can include obtaining information about a center line of a lane in which the vehicle is currently located, and obtaining a parallel-line track cluster based on the information about the lane center line. The method can include calculating a cost value of each parallel-line track, and performing time-domain filtering on a parallel-line track with a minimum cost value in the parallel-line track cluster to obtain a target track at the moment t specifying a parallel line track that is used by the vehicle to avoid an obstacle.