Title:
SYSTEMS, METHODS, AND COMPUTER-READABLE MEDIA FOR SPATIO-TEMPORAL MOTION PLANNING
Document Type and Number:
WIPO Patent Application WO/2023/147769
Kind Code:
A1
Abstract:
Systems, methods and computer-readable media for spatio-temporal motion planning, including: receiving data defining a drivable area within a spatio-temporal space; generating a cost function to be minimized that includes one or more upper-bound cost terms, each upper-bound cost term approximating the upper-bound of a cost term for the trajectory for a spatial frame of the spatio-temporal space, each upper-bound cost term being expressed as one or more longitudinal-temporal cost terms and one or more lateral-temporal cost terms for the trajectory; and further cost terms for the trajectory for the spatio-temporal frames; computing, based on the constraints and cost function, a planned trajectory through the drivable area, the planned trajectory directory being optimized with respect to both spatial frame and the spatio-temporal frames. Optimizing the planned trajectory in the spatial frame in addition to the spatio-temporal frames can enable planning objectives for the spatial frame to be optimized, for example maintaining closeness to a reference path and minimizing lateral acceleration and directional oscillation.
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Inventors:
ZHANG WEIZE (CA)
YADMELLAT PEYMAN (CA)
YADMELLAT PEYMAN (CA)
Application Number:
PCT/CN2023/074055
Publication Date:
August 10, 2023
Filing Date:
February 01, 2023
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G06T7/246; G05D1/02
Foreign References:
| CN112068545A | 2020-12-11 | |||
| CN111845774A | 2020-10-30 | |||
| CN112677995A | 2021-04-20 | |||
| US20210200212A1 | 2021-07-01 |
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