SYSTEMS AND METHODS FOR PATH DETERMINATION

1 . A system, comprising:

a mounting structure configured to mount on a vehicle; and

a control module attached on the mounting structure, including

at least one storage medium storing a set of instructions,

an output port, and,

a microchip in connection with the at least one storage medium, wherein during operation, the microchip executing the set of instructions to:

obtain vehicle status information;

determine a reference path based on the vehicle status information;

determine a loss function incorporating the reference path, vehicle status information, and a candidate path;

obtain an optimized candidate path by optimizing the loss function;

send an electronic signal encoding the optimized candidate path to the output port.

2 . The system of claim 1 , further comprising:

a Gateway Module (GWM) electronically connected the control module to a Control Area Network (CAN);

the CAN electrically connected the GWM to at least one of:

an Engine Management System (EMS),

an Electric Power System (EPS),

an Electric Stability Control (ESC), and

a Steering Column Module (SCM).

3 . The system of claim 1 , wherein the reference path includes a reference sample; the candidate path includes a candidate sample; the loss function includes a first indicator; and,

the control module is further directed to:

determine the first indicator based on a difference between a reference location of the reference sample and a candidate location of the candidate sample.

4 . The system of claim 1 , wherein the reference path includes a reference sample; the candidate path includes a candidate sample; the loss function includes a second indicator; and,

the control module is further directed to:

determine the second indicator based on a difference between a reference velocity of the reference sample and a candidate velocity of the candidate sample.

5 . The system of claim 1 , wherein the reference path includes a reference sample; the candidate path includes a candidate sample; the loss function includes a third indicator; and,

the control module is further directed to:

determine the third indicator based on a difference between a reference acceleration of the reference sample and a candidate acceleration of the candidate sample.

6 . The system of claim 1 , wherein the loss function includes a fourth indicator; and,

the control module is further directed to:

obtain profile data of the vehicle;

obtain one or more locations of one or more obstacles around the vehicle;

determine one or more obstacle distances between the vehicle and the one or more obstacles;

determine the fourth indicator based on the one or more obstacle distances.

7 . The system of claim 6 , wherein value of the fourth indicator is inversely proportional to the one or more obstacle distances.

8 . The system of claim 7 , wherein the fourth indicator is expressed as:

∑

k

=

1

M





1

d

k

+

E

wherein the d k denotes the one or more obstacle distance, M denotes number of the one or more obstacles, and E denotes the profile data.

9 . The system of claim 1 , wherein the vehicle status information includes at least one of:

a driving direction of the vehicle, a velocity of the vehicle, an acceleration of the vehicle, or environment information around the vehicle.

10 . The system of claim 1 , wherein the loss function is optimized by gradient descent method.

11 . A method, implemented on a control module, having a microchip, a storage medium, and an output, attached on a mounting structure of a vehicle, the method comprising:

obtaining, by the microchip, vehicle status information;

determining, by the microchip, a reference path based on the vehicle status information;

determining, by the microchip, a loss function incorporating the reference path, vehicle status information, and a candidate path;

obtaining, by the microchip, an optimized candidate path by optimizing the loss function;

sending, by the microchip, an electronic signal encoding the optimized candidate path to the output port.

12 . The method of claim 11 , wherein the reference path includes a reference sample; the candidate path includes a candidate sample; the loss function includes a first indicator; and,

the method further comprises:

determine the first indicator based on a difference between a reference location of the reference sample and a candidate location of the candidate sample.

13 . The method of claim 11 , wherein the reference path includes a reference sample; the candidate path includes a candidate sample; the loss function includes a second indicator; and,

the control module is further directed to:

determine the second indicator based on a difference between a reference velocity of the reference sample and a candidate velocity of the candidate sample.

14 . The method of claim 11 , wherein the reference path includes a reference sample; the candidate path includes a candidate sample; the loss function includes a third indicator; and,

the control module is further directed to:

determining, by the microchip, the third indicator based on a difference between a reference acceleration of the reference sample and a candidate acceleration of the candidate sample.

15 . The method of claim 11 , wherein the loss function includes a fourth indicator; and,

the method further comprises:

obtaining, by the microchip, profile data of the vehicle;

obtaining, by the microchip, one or more locations of one or more obstacles around the vehicle;

determining, by the microchip, one or more obstacle distances between the vehicle and the one or more obstacles;

determining, by the microchip, the fourth indicator based on the one or more obstacle distances.

16 . The method of claim 15 , wherein value of the fourth indicator is inversely proportional to the one or more obstacle distances.

17 . The method of claim 16 , wherein the fourth indicator is expressed as:

∑

k

=

1

M





1

d

k

+

E

wherein the d k denote the one or more obstacle distance, M denote number of the one or more obstacles, and E denote the profile data.

18 . The method of claim 11 , wherein the vehicle status information includeincludes at least one of:

a driving direction of the vehicle, a velocity of the vehicle, an acceleration of the vehicle, or environment information around the vehicle.

19 . The method of claim 11 , wherein the loss function is optimized by gradient descent method.

20 . A non-transitory computer readable medium, comprising at least one set of instructions for determining a path for a vehicle, wherein when executed by at least one processor of an electronic terminal, the at least one set of instructions directs the at least one processor to perform acts of:

obtaining vehicle status information;

determining a reference path based on vehicle status information;

determining a loss function incorporating the reference path, vehicle status information, and a candidate path;

obtaining an optimized candidate path by optimizing the loss function;

sending an electronic signal encoding the optimized candidate path to the output port.