Abstract: A route deciding method, system, and device, and a medium. The method comprises: dividing the drivable road between the current position of a driverless vehicle and a destination into a plurality of waypoints; determining a target waypoint from among the waypoints between the current position of the driverless vehicle and the destination, and calculating the global cost from the target waypoint to the destination so as to obtain the waypoint value of the target waypoint; iteratively calculating the waypoint values of the waypoints between the target waypoint and the current position of the driverless vehicle according to the waypoint value of the target waypoint; and determining in real time the action at the current position according to the waypoint value of the next waypoint corresponding to the current position of the driverless vehicle so as to obtain the current route decision result on driving to the destination.

Abstract: An apparatus and a method for controlling a velocity of an autonomous driving vehicle is provided. The method includes steps of: obtaining information of an environment surrounding the vehicle when an obstacle is detected to be on a planning path of the vehicle; obtaining an initial reference velocity profile of the vehicle; determining a safety factor based on the initial reference velocity profile, the information of the environment and information of the vehicle, wherein the safety factor at least comprises a safety distance between the vehicle and the obstacle for the vehicle to follow the obstacle; determining an optimized reference velocity profile based on the information of the environment, the information of the vehicle and the safety factor; and performing the step of determining the safety factor by using the optimized reference velocity profile as the initial reference velocity profile and the step of determining the optimized reference velocity iteratively.

Abstract: A method for controlling a vehicle using a model predictive controller generating consecutive sets of reference states at a calculation frequency. In one embodiment, the method comprises: receiving a trajectory reference for guiding movement of the vehicle; generating, in a calculation cycle repeated at the calculation frequency, a set of reference states based on an initial state of the vehicle at a start time of the calculation cycle and the trajectory reference; sending the set of reference states to a second controller; detecting, by the second controller at a detection frequency equal to or higher than the calculation frequency, an updated state of the vehicle; generating a vehicle control parameter value based on the updated state of the vehicle and a reference state of the set of reference states; and controlling the vehicle using the vehicle control parameter value.

Abstract: An apparatus and a method for controlling a velocity of an autonomous driving vehicle is provided. The method includes steps of: obtaining information of an environment surrounding the vehicle when an obstacle is detected to be on a planning path of the vehicle; obtaining an initial reference velocity profile of the vehicle; determining a safety factor based on the initial reference velocity profile, the information of the environment and information of the vehicle, wherein the safety factor at least comprises a safety distance between the vehicle and the obstacle for the vehicle to follow the obstacle; determining an optimized reference velocity profile based on the information of the environment, the information of the vehicle and the safety factor; and performing the step of determining the safety factor by using the optimized reference velocity profile as the initial reference velocity profile and the step of determining the optimized reference velocity iteratively.