PATH PLANNING FOR COMPLEX SCENES WITH SELF-ADJUSTING PATH LENGTH FOR AUTONOMOUS DRIVING VEHICLES

摘要

According to some embodiments, an ADV includes a method to plan a path trajectory. The method initializes a path length to a initial path length and performs a path planning operation using the initial path length. The method determines if the path planning operation successfully generates the path trajectory. If the path trajectory fails to be successfully generated, the method determines a reason for the failure. If the path trajectory fails to be generated for reasons other than an obstacle blocking the vehicle, the method defaults the path trajectory to a backup path. If the path trajectory fails to be generated due to an obstacle blocking the vehicle, the method reduces the path length by an incremental amount to generate a reduced path length. The method performs the path planning operation using the reduced path length until a path trajectory is successfully generated or until a stop condition is reached.