Method and device for operating a self-driving car
Methods and devices for operating a Self-Driving Car (SDC) are disclosed. The method includes generating a first graph-structure having nodes and edges, ranking the edges based on a priority logic into a ranked list of edges, and generating a second graph-structure (i) by iteratively generating attributes for respective ones from the ranked list of edges beginning with a highest priority edge in the ranked list of edges and (ii) until a pre-determined limit is met. The method also includes causing operation of the SDC on the road segment using the second graph-structure.
1. A method of operating a Self-Driving Car (SDC) on a road segment, the SDC travelling on the road segment, the SDC being controlled by an electronic device, the method executable by the electronic device, the method comprising:
generating, by the electronic device, a first graph-structure having nodes and edges,
a given node being associated with a respective potential position of the SDC on the road segment, a given edge being representative of a transition of the SDC between potential positions of pairs of nodes;
ranking, by the electronic device, the edges based on a priority logic into a ranked list of edges,
the ranked list of edges being indicative of a priority order of transitions between the respective potential positions of the SDC for operating the SDC on the road segment;
generating, by the electronic device, a second graph-structure (i) by iteratively generating attributes for respective ones from the ranked list of edges beginning with a highest priority edge in the ranked list of edges and (ii) until a pre-determined limit is met,
the pre-determined limit being indicative of a total number of edges to be included in the second graph-structure;
the second graph-structure having a set of edges from the first graph-structure for which the attributes are generated; and
causing, by the electronic device, operation of the SDC on the road segment using the second graph-structure.
2. The method of claim 1 , wherein the generating the second graph-structure comprises executing, by the electronic device, a first iteration and a second iteration,
the executing the first iteration including:
generating, by the electronic device, the attributes for a first edge in the ranked list of edges,
the first edge being added to a current number of edges currently included in the second graph-structure, and
comparing, by the electronic device, the current number of edges against the pre-determined limit;
in response to the current number of edges being below the pre-determined limit, triggering execution of the second iteration, the executing the second iteration including:
generating, by the electronic device, the attributes for a second edge in the ranked list of edges, the second edge being ranked immediately after the first edge in the ranked list of edges,
the second edge being added to the current number of edges currently included in the second graph-structure, and
comparing, by the electronic device, the current number of edges against the pre-determined limit; and
in response to the current number of edges being equal to the pre-determined limit, stopping generation of the second graph-structure.
3. The method of claim 1 , wherein the causing operation of the SDC using the second graph-structure comprises:
generating, by the electronic device, a potential path for the SDC on the road segment, the potential path being representative of a respective sequence of edges in the second graph-structure;
generating, by the electronic device, a potential trajectory for the SDC on the road segment using the attributes of the edges in the respective sequence of edges; and
causing, by the electronic device, operation of the SDC for travelling on the road segment in accordance with the potential trajectory.
4. The method of claim 1 , wherein the ranking the edges into the ranked list of edges based on the priority logic comprises:
determining, by the electronic device, a weighted combination of pre-determined priority criteria, the pre-determined priority criteria including at least one of:
a positional offset of a given edge from a lane center, a length of the given edge, a distance between the given edge and a current position of the SDC, an association of the edge with one of a current lane and a target lane, a curvature of the road segment corresponding to the given edge, a current speed of the SDC, and a legal speed limit on the road segment.
5. The method of claim 1 , wherein the ranking the edges based on the priority logic into the ranked list of edges comprises:
generating predicted priority scores for each of the edges by a Machine Learning Algorithm (MLA) having been trained to generate a predicted priority score for a given edge based on a plurality of pre-determined priority criteria, and
ranking the edges based on the predicted priority scores.
6. The method of claim 1 , wherein the attributes of a given edge comprise at least one of:
a distance of a given edge from one or more static objects on the road segment, and
a distance of the given edge one or more dynamic objects on the road segment.
7. The method of claim 1 , wherein the pre-determined limit is the total number of edges.
8. The method of claim 1 , wherein the pre-determined limit is a total number of intermediary points along edges for which the attributes are to be determined.
9. The method of claim 1 , wherein the second graph-structure is used for operating the SDC on the road segment during a first planning cycle, and wherein the method further comprises:
generating, by the electronic device an other second graph-structure for a second planning cycle; and
causing, by the electronic device, operation of the SDC on the road segment using the other second graph-structure during the second planning cycle.
10. The method of claim 9 , wherein the method further comprises:
receiving, by the electronic device, first sensor data at a first moment in time from a sensor system mounted on the SDC, the first sensor data being indicative of information about the road segment at the first moment in time;
causing, by the electronic device, the first planning cycle at the first moment in time for generating the second graph-structure based on the first sensor data;
receiving, by the electronic device, second sensor data at a second moment in time from the sensor system mounted on the SDC, the second sensor data being indicative of information about the road segment at the second moment in time, the second moment in time being after the first moment in time; and
causing, by the electronic device, the second planning cycle at the second moment in time for generating the other second graph-structure based on the second sensor data.
11. The method of claim 1 , wherein the generating the second graph-structure comprises executing, by the electronic device, a first iteration and a second iteration,
the executing the first iteration including:
generating, by the electronic device, the attributes for a first edge in the ranked list of edges,
the first edge being added to a current number of edges currently included in the second graph-structure, and
comparing, by the electronic device, the current number of edges against the pre-determined limit;
in response to the current number of edges being below the pre-determined limit, triggering execution of the second iteration, the executing the second iteration including:
generating, by the electronic device, the attributes for a second edge in the ranked list of edges, the second edge being a next edge in the ranked list of edges after the first edge and which is connected to at least one edge currently included in the second graph-structure,
the second edge being added to the current number of edges currently included in the second graph-structure, and
comparing, by the electronic device, the current number of edges against the pre-determined limit; and
in response to the current number of edges being equal to the pre-determined limit, stopping generation of the second graph-structure.
12. An electronic device for operating a Self-Driving Car (SDC) on a road segment, the SDC travelling on the road segment, the SDC being controlled by the electronic device, the electronic device being configured to:
generate a first graph-structure having nodes and edges,
a given node being associated with a respective potential position of the SDC on the road segment, a given edge being representative of a transition of the SDC between potential positions of pairs of nodes;
rank the edges based on a priority logic into a ranked list of edges,
the ranked list of edges being indicative of a priority order of transitions between the respective potential positions of the SDC for operating the SDC on the road segment;
generate a second graph-structure (i) by iteratively generating attributes for respective ones from the ranked list of edges beginning with a highest priority edge in the ranked list of edges and (ii) until a pre-determined limit is met,
the pre-determined limit being indicative of a total number of edges to be included in the second graph-structure,
the second graph-structure having a set of edges from the first graph-structure for which the attributes are generated; and
cause operation of the SDC on the road segment using the second graph-structure.
13. The electronic device of claim 12 , wherein generating the second graph-structure comprises the electronic device being configured to:
execute a first iteration comprising:
generating the attributes for a first edge in the ranked list of edges,
adding the first edge to a current number of edges currently included in the second graph-structure, and
comparing the current number of edges against the pre-determined limit;
in response to the current number of edges being below the pre-determined limit, trigger execution of a second iteration, the second iteration comprising:
generating the attributes for a second edge in the ranked list of edges, the second edge being ranked immediately after the first edge in the ranked list of edges,
adding the second edge to the current number of edges currently included in the second graph-structure, and
comparing the current number of edges against the pre-determined limit; and
in response to the current number of edges being equal to the pre-determined limit, stop generation of the second graph-structure.
14. The electronic device of claim 12 , wherein the electronic device is further configured to:
generate a potential path for the SDC on the road segment, the potential path being representative of a respective sequence of edges in the second graph-structure;
generate a potential trajectory for the SDC on the road segment using the attributes of the edges in the respective sequence of edges; and
cause operation of the SDC for travelling on the road segment in accordance with the potential trajectory.
15. The electronic device of claim 12 , wherein ranking the edges into the ranked list of edges based on the priority logic comprises the electronic device being configured to:
determine a weighted combination of pre-determined priority criteria, the pre-determined priority criteria including at least one of:
a positional offset of a given edge from a lane center, a length of the given edge, a distance between the given edge and a current position of the SDC, an association of the edge with one of a current lane and a target lane, a curvature of the road segment corresponding to the given edge, a current speed of the SDC, and a legal speed limit on the road segment.
16. The electronic device of claim 12 , wherein ranking the edges into the ranked list of edges based on the priority logic comprises the electronic device being configured to:
generate predicted priority scores for each of the edges by a Machine Learning Algorithm (MLA) having been trained to generate a predicted priority score for a given edge based on a plurality of pre-determined priority criteria, and
rank the edges based on the predicted priority scores.
17. The electronic device of claim 12 , wherein the attributes of a given edge comprise at least one of:
a distance of a given edge from one or more static objects on the road segment, and a distance of the given edge one or more dynamic objects on the road segment.
18. The electronic device of claim 12 , wherein the pre-determined limit is the total number of edges.
19. The electronic device of claim 12 , wherein the pre-determined limit is a total number of intermediary points along edges for which the attributes are to be determined.
20. The electronic device of claim 12 , wherein the second graph-structure is used for operating the SDC on the road segment during a first planning cycle, and wherein the electronic device is further configured to:
generate an other second graph-structure for a second planning cycle; and
cause operation of the SDC on the road segment using the other second graph-structure during the second planning cycle.