US 12,441,360 B2
Multi-profile quadratic programming (MPQP) for optimal gap selection and speed planning of autonomous driving
Alexandre Miranda Anon, Premia de Dalt (ES); Sangjae Bae, San Jose, CA (US); David Isele, Sunnyvale, CA (US); Manish Saroya, Santa Clara, CA (US); and Kikuo Fujimura, Palo Alto, CA (US)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Oct. 27, 2023, as Appl. No. 18/384,616.
Claims priority of provisional application 63/541,022, filed on Sep. 28, 2023.
Prior Publication US 2025/0108827 A1, Apr. 3, 2025
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 30/14 (2006.01); B60W 50/00 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 30/14 (2013.01); B60W 30/143 (2013.01); B60W 50/00 (2013.01); B60W 60/0011 (2020.02); B60W 60/0016 (2020.02); B60W 60/00272 (2020.02); B60W 60/00276 (2020.02); B60W 2050/0003 (2013.01); B60W 2510/104 (2013.01); B60W 2554/4044 (2020.02); B60W 2554/80 (2020.02); B60W 2556/10 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A method for generating operable driving areas for an autonomous driving vehicle based on a path trajectory of the autonomous driving vehicle, comprising:
forming a space time (ST) graph indicating a distance of travel along the path trajectory with respect to time of the autonomous driving vehicle and path trajectories of devices intersecting with the path trajectory of the autonomous driving vehicle;
segmenting the ST graph into cells, wherein viable cells represent discretized viable unoccupied spaces in the ST graph, wherein segmenting the ST graph comprises:
identifying occupied cells associated with each device at each time segment;
combining overlapping occupied cells; and
forming a complimentary set of the occupied cells, the complimentary set of the occupied cells forming the viable cells:
finding passage ways for the autonomous driving vehicle based on the viable cells; and
selecting a desired passage way using quadratic programming (QP) optimization when multiple passage ways are found.