Patent ID: 11873004
Assignee: HUAWEI TECHNOLOGIES CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. A computer-implemented method for generating a channel for use as spatial or spatio-temporal constraints for motion planning for an autonomous vehicle, the method comprising:
generating a triangulation mesh for a space in an environment of the autonomous vehicle, the triangulation mesh comprising a plurality of nodes that each represent a geographic location in the space at a given time, at least some of the nodes corresponding to moving objects in the space;
for each respective node corresponding to a moving object, projecting a velocity of the moving object onto edges of one or more neighboring nodes of the respective node, wherein the projection of the velocity of each respective node corresponding to a moving object is a function of a velocity value, a distance penalty, and an angular penalty,
wherein a value of the projection of each one of the edges is the vector multiplication between the velocity value of the node and a direction of each one of the edges multiplied by the angular penalty and the distance penalty, computed separately for each edge,
wherein the angular penalty is computed as angular penalty=(1−θ/π)β, wherein θ is the angle between each one edge of the node corresponding to a dynamic object and the direction of the node, and β is an angular penalty factor;

generating, based on the triangulation mesh, a candidate channel through the space that the autonomous vehicle can pass through, the candidate channel comprising a series of adjacent triangles of the triangulation mesh that extend from a starting location to a target location of the autonomous vehicle;
generating the channel by iteratively:
predicting, based on motion information for the dynamic nodes, a time and location of a future triangulation mesh topology event caused by at least one of the nodes that will impact the candidate channel; and
selecting, as a valid channel segment for the channel, a portion of the candidate channel that extends from the starting location to a channel segment end location preceding the predicted location of the future triangulation mesh topology event; and
providing the channel for motion planning for the autonomous vehicle.