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

Claim 5:
6. A computer-implemented method for motion planning, comprising:
generating a candidate channel by constructing a triangulation mesh representing an environment based on locations of static objects and dynamic objects in the environment, the triangulation mesh consisting of a plurality of triangles covering the candidate channel, each triangle comprising three nodes, each node corresponding to one of the static or dynamic objects;
for each respective node corresponding to a dynamic object, projecting 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

identifying a sequence of valid channel segments within the candidate channel, the sequence 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;
predicting the location of the autonomous vehicle when the topological event occurs; and
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.