Patent ID: 11945463
Assignee: BAIDU USA LLC
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
determining a starting point, a set of one or more way points, and a destination point of a first route along which the ADV is to be driven;
determining all lane segments located within a predetermined threshold distance to the starting point, the set of way points, and the destination point respectively;
generating Cartesian products of sets based on all the lane segments for the starting point, the set of way points, and the destination point respectively, wherein results of Cartesian products of sets include a set of groups of ordered lane segments;
determining a set of route candidates using an A-star (A*) searching algorithm based on a set of nodes representing all the lane segments located within the predetermined threshold distance to the starting point, the set of way points, and the destination point respectively for the set of groups of the ordered lane segments;
selecting a second route from the set of route candidates based on respective costs of the set of route candidates; and
controlling the ADV to drive along the selected route autonomously.