WO2023039707 - MOTION PLANNING USING SPATIO-TEMPORAL CONVEX CORRIDORS
National phase entry:
Publication Number
WO/2023/039707
Publication Date
23.03.2023
International Application No.
PCT/CN2021/118153
International Filing Date
14.09.2021
Title **
[English]
MOTION PLANNING USING SPATIO-TEMPORAL CONVEX CORRIDORS
[French]
PLANIFICATION DE MOUVEMENT À L'AIDE DE COULOIRS CONVEXES SPATIO-TEMPORELS
Applicants **
HUAWEI TECHNOLOGIES CO., LTD.
Huawei Administration Building, Bantian, Longgang District
Shenzhen, Guangdong 518129, CN
Inventors
ZHANG, Weize
19 Allstate Parkway Markham, Toronto.
Ottawa, Ontario L3R 5A4, CA
YADMELLAT, Peyman
19 Allstate Parkway Markham, Toronto.
Ottawa, Ontario L3R 5A4, CA
GAO, Zhiwei
Huawei Administration Building, Bantian, Longgang District
Shenzhen, Guangdong 518129, CN
Application details
| Total Number of Claims/PCT | * |
| Number of Independent Claims | * |
| Number of Priorities | * |
| Number of Multi-Dependent Claims | * |
| Number of Drawings | * |
| Pages for Publication | * |
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| Pages of Specification | * |
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International Searching Authority |
CNIPA
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| Applicant's Legal Status |
Legal Entity
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| Entry into National Phase under |
Chapter I
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| Translation |
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Recalculate
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Quotation for National Phase entry
| Country | Stages | Total | |
|---|---|---|---|
| China | Filing | 1163 | |
| EPO | Filing, Examination | 7620 | |
| Japan | Filing | 591 | |
| South Korea | Filing | 482 | |
| USA | Filing, Examination | 2710 |
Total: 12566 USD
The term for entry into the National Phase has expired. This quotation is for informational purposes only
Abstract[English]
Systems, methods and computer-readable media for path planning for an autonomous vehicle, comprising receiving data defining an upper bound of a spatio-temporal convex corridor and lower bound of the spatio-temporal convex corridor; computing a plurality of control point times within a corridor start time and a corridor end time, the control point times including at least a start control point time, an end control point time and an intermediate control point time between the start control point time and the end control point time; determining, for each of the control point times, respective control point maximum values and control point minimum values; computing, based on the respective control point maximum values and the respective control point minimum values, respective control point values for each of the control point times, the control point values defining a curve segment that is within the upper bound and the lower bound of the spatio-temporal convex corridor.[French]
Systèmes, procédés et supports lisibles par ordinateur destinés à la planification de trajet pour un véhicule autonome, consistant à recevoir des données définissant une limite supérieure d'un couloir convexe spatio-temporel et une limite inférieure du couloir convexe spatio-temporel; à calculer une pluralité de moments de commande entre un moment de début de couloir et un moment de fin de couloir, les moments de commande comportant au moins un moment de commande de début, un moment de commande de fin et un moment de commande intermédiaire entre le moment de commande de début et le moment de commande de fin; à déterminer, pour chacun des moments de commande, des valeurs maximales de moment de commande et des valeurs minimales de moment de commande respectives; à calculer, sur la base des valeurs maximales de moment de commande respectives et des valeurs minimales de moment de commande respectives, des valeurs de moment de commande respectives pour chacun des moments de commande, les valeurs de moment de commande définissant un segment de courbe qui se trouve à l'intérieur de la limite supérieure et de la limite inférieure du couloir convexe spatio-temporel.