| CPC B60W 60/0011 (2020.02) [B60W 60/0015 (2020.02); G06V 20/58 (2022.01); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02); B60W 2554/802 (2020.02)] | 20 Claims |
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1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
perceiving a driving environment based on sensor data obtained from a plurality of sensors mounted on the ADV, including detecting an obstacle;
performing path planning of the ADV, including
generating a plurality of obstacle boundaries with a plurality of buffer distances for the obstacle, the plurality of buffer distances ranging from a predetermined minimum buffer distance to a predetermined maximum buffer distance, each of the plurality of buffer distances including a distance between an obstacle boundary of the plurality of obstacle boundaries to a closest edge of the obstacle, each of the plurality of obstacle boundaries corresponding to a buffer distance of the plurality of buffer distances for the obstacle,
generating a plurality of paths of the ADV using quadratic programming (QP) based on the plurality of obstacle boundaries in parallel, each path of the plurality of paths corresponding to a buffer distance of the plurality of buffer distances,
selecting a path from the plurality of paths having a smallest corresponding buffer distance; and
controlling the ADV to drive autonomously according to the selected path to avoid the obstacle.
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