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

Claim 11:
12. A computing system for motion planning for an autonomous vehicle, the computing system comprising:
a processor;
a memory coupled to the processor, the memory tangibly storing thereon executable instructions that, when executed by the processor, cause the processor to:
generate a candidate channel by constructing a triangulation mesh representing an environment based on locations of static nodes and dynamic nodes in the environment, the triangulation mesh consisting of a plurality of triangles covering the candidate channel;
for each respective node corresponding to a dynamic object, project a velocity of the dynamic 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 dynamic 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 distance penalty is computed as distance penalty==α/∥i−j∥+α′ wherein α is a distance penalty factor, ∥i−j∥ is the Euclidean distance between i and j, wherein i and j are the coordinates of one of the nodes corresponding to a dynamic object and a point of interest; and

identify valid channel segments within the candidate channel for use as spatial or spatio-temporal constrains for the autonomous vehicle, the valid channel segments extending from a starting location of the autonomous vehicle to a target location of the autonomous vehicle, and generating a channel comprising the identified sequence of valid channel segments, wherein each valid channel segment is identified by:
determining a location and time for a topological event impacting the candidate channel that is closest to the starting location;
estimating the location of the autonomous vehicle when the topological event occurs;
identifying an anchor triangle in the triangulation mesh corresponding to the location of the autonomous vehicle at the time of topological event, the anchor triangle being a triangle splitting the candidate channel into the valid channel segment and a non-valid channel segment, wherein the valid channel segment is a portion of the candidate channel from the starting location to the anchor triangle or a triangle before the anchor triangle; and
motion planning for an autonomous vehicle using at least the channel as spatial or spatio-temporal constraints.