Abstract: The disclosed techniques include: obtaining traveling state information of the autonomous vehicle; obtaining, in response to confirming that there is a traffic object within a preset range for the autonomous vehicle, true motion state information of the traffic object; determining a first control decision for indicating whether the autonomous vehicle is to avoid the traffic object based on the traveling state information of the autonomous vehicle and the true motion state information of the traffic object; predicting first predictive motion state information of the traffic object within a first preset duration based on the true motion state information of the traffic object and the first control decision; and determining a second control decision for the autonomous vehicle based on the traveling state information of the autonomous vehicle and the first predictive motion state information of the traffic object.

Abstract: The disclosure discloses a method and an apparatus for simulating a vehicle. The detailed implementation includes: determining, by a tire dynamics module, a tire translational force at a current moment based on a control instruction issued by an upper planning module and motion data of a vehicle body and a tire normal load outputted by a vehicle body dynamics module at a previous moment; and determining, by the vehicle body dynamics module, motion data of the vehicle body and a tire normal load at the current moment based on the control instruction and the tire translational force at the current moment, the motion data of the vehicle body at the current moment being used for vehicle simulation, and the tire normal load at the current moment being used to determine a tire translational force at a next moment.

Abstract: A method, device and apparatus for processing a control parameter, and a storage medium are provided. The method includes: acquiring first information input to a control system; acquiring second information output after the first information is processed by the control system; obtaining a first parameter characteristic for characterizing a system parameter, according to the first information and the second information; obtaining a second parameter characteristic for adjusting the control parameter, according to the first parameter characteristic and a corresponding relation between the system parameter and the control parameter; and adjusting the control parameter according to the second parameter characteristic. Thus, an adaptive adjustment of the control parameter based on the variation of the scene is realized, and the parameter adjustment efficiency is improved.

Abstract: Embodiments of the present disclosure provide a bend driving control method for an autonomous vehicle, a device and a storage medium, and relate to a field of perception and autonomous driving technologies. The method includes: obtaining an occupancy width of an autonomous vehicle on a target bend when the autonomous vehicle drives on the target bend; detecting location information of an obstacle on the target bend; and controlling a driving route of the autonomous vehicle on the target bend based on the occupancy width and the location information of the obstacle.

Abstract: A blacklist-based re-navigation method and apparatus, and a computer readable storage medium are provided. The blacklist-based re-navigation method includes: detecting whether an obstacle is in a front area of a driverless vehicle in a driving process of the driverless vehicle; if an obstacle is detected in the front area, generating a blacklist associated with the obstacle, wherein the blacklist includes a road on which the obstacle is located; and reporting the blacklist to a navigation system, wherein the navigation system re-plans a navigation route according to the road on which the obstacle is located.

Abstract: A method of training a model, a method of predicting a trajectory, and an electronic device, which relate to fields of artificial intelligence, deep learning, autonomous driving and intelligent transportation technologies. The method includes: adjusting a model parameter of a to-be-trained model for an nth round according to a first action selection strategy, so as to obtain an intermediate network model, where n=1, . . . N, and N is an integer greater than 1; performing, by using the intermediate network model, at least one trajectory prediction action based on training sample data indicated by the first action selection strategy, so as to obtain a trajectory prediction result; determining a second action selection strategy according to the trajectory prediction result and the first action selection strategy; and adjusting the model parameter of the to-be-trained model for an (n+1)th round according to the second action selection strategy.

Abstract: A method and a device for eliminating a steady-state lateral deviation and a storage medium are provided. The method includes: determining whether a vehicle travels on a straight road; collecting a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road; determining whether the vehicle has the steady-state lateral deviation based on the collected lateral deviation value; and compensating the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value in a case that the vehicle has the steady-state lateral deviation. The vehicle has the steady-state lateral deviation may run steadily, a direction of the vehicle is more accurate, self-driving safety and efficiency are improved, the sense of leftward and rightward swaying brought by a continuous deviation rectification method in the conventional art is effectively eliminated, and self-driving stability is improved.

Abstract: A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.

Abstract: A method and apparatus for planning a travelling path, and a vehicle are provided. The method includes: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range; processing the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve. The complexity of an actual traffic scene is taken into account, and a travelling path planning is not affected by the accuracy of sampling points.

Abstract: The disclosure discloses a method and an apparatus for simulating a vehicle. The detailed implementation includes: determining, by a tire dynamics module, a tire translational force at a current moment based on a control instruction issued by an upper planning module and motion data of a vehicle body and a tire normal load outputted by a vehicle body dynamics module at a previous moment; and determining, by the vehicle body dynamics module, motion data of the vehicle body and a tire normal load at the current moment based on the control instruction and the tire translational force at the current moment, the motion data of the vehicle body at the current moment being used for vehicle simulation, and the tire normal load at the current moment being used to determine a tire translational force at a next moment.

Abstract: Embodiments of the present disclosure provide a bend driving control method for an autonomous vehicle, a device and a storage medium, and relate to a field of perception and autonomous driving technologies. The method includes: obtaining an occupancy width of an autonomous vehicle on a target bend when the autonomous vehicle drives on the target bend; detecting location information of an obstacle on the target bend; and controlling a driving route of the autonomous vehicle on the target bend based on the occupancy width and the location information of the obstacle.

Abstract: A method for planning a path for lane changing includes: determining, based on position information of a detected obstacle, a reference position to be passed by a vehicle when the vehicle detours the obstacle; estimating an end position of the vehicle detouring the obstacle based on a positional relationship between the vehicle and the obstacle; and determining a path of the vehicle to detour the obstacle based on a current position of the vehicle, the reference position and the end position.

Abstract: In one embodiment, in response to a route from a source location to a target location, the route is analyzed to identify a list of one or more driving scenarios along the route that match one or more predetermined driving scenarios. The route is segmented into a list of route segments based on the driving scenarios. At least one of the route segments corresponds to one of the identified driving scenarios. A path is generated based on the route segments for driving an autonomous driving vehicle from the source location to the target location. The path includes a number of path segments corresponding to the route segments. At least one of the path segments of the path is determined based on a preconfigured path segment of a predetermined driving scenario associated with the path segment, without having to calculating the same at real time.

Abstract: Methods and systems for operating an autonomous driving vehicle (ADV) are disclosed. A current state of an ADV is sampled at a first time to obtain a set of parameters. A cost, from a cost function that reflects desired control goals, is generated for a future time horizon based at least in part on the set of parameters. The cost is minimized with one or more constraints to obtain target control input values. For each of the target control input values, a lookup operation is performed using the control input value to locate a first mapping entry that approximately corresponds to the control input value. A first control command is derived from the first mapping entry. The ADV is controlled using the derived first control command.

Abstract: A method and apparatus for planning a travelling path, and a vehicle are provided. The method includes: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range; processing the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve. The complexity of an actual traffic scene is taken into account, and a travelling path planning is not affected by the accuracy of sampling points.

Abstract: A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.

Abstract: A method and a device for eliminating a steady-state lateral deviation and a storage medium are provided. The method includes: determining whether a vehicle travels on a straight road; collecting a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road; determining whether the vehicle has the steady-state lateral deviation based on the collected lateral deviation value; and compensating the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value in a case that the vehicle has the steady-state lateral deviation. The vehicle has the steady-state lateral deviation may run steadily, a direction of the vehicle is more accurate, self-driving safety and efficiency are improved, the sense of leftward and rightward swaying brought by a continuous deviation rectification method in the conventional art is effectively eliminated, and self-driving stability is improved.

Abstract: A blacklist-based re-navigation method and apparatus, and a computer readable storage medium are provided. The blacklist-based re-navigation method includes: detecting whether an obstacle is in a front area of a driverless vehicle in a driving process of the driverless vehicle; if an obstacle is detected in the front area, generating a blacklist associated with the obstacle, wherein the blacklist includes a road on which the obstacle is located; and reporting the blacklist to a navigation system, wherein the navigation system re-plans a navigation route according to the road on which the obstacle is located.

Abstract: A method, device and terminal apparatus for invoking an automatic driving reference line are provided. The method includes: acquiring lane information of a current lane where a vehicle is located; calculating an automatic driving reference line of the current lane according to the lane information of the current lane; invoking lane information of a switching lane according to a topological relation between the current lane and the switching lane; and calculating an automatic driving reference line of the switching lane according to the automatic driving reference line of the current lane and the lane information of the switching lane.

Abstract: A method, device and apparatus for processing a control parameter, and a storage medium are provided. The method includes: acquiring first information input to a control system; acquiring second information output after the first information is processed by the control system; obtaining a first parameter characteristic for characterizing a system parameter, according to the first information and the second information; obtaining a second parameter characteristic for adjusting the control parameter, according to the first parameter characteristic and a corresponding relation between the system parameter and the control parameter; and adjusting the control parameter according to the second parameter characteristic. Thus, an adaptive adjustment of the control parameter based on the variation of the scene is realized, and the parameter adjustment efficiency is improved.