RU2789921C2 - Method and device for control of self-driving car - Google Patents

Abstract

FIELD: car industry.

SUBSTANCE: invention relates to self-driving cars (hereinafter – SDC), in particular to an electronic device and a method for control of SDC. The device for control of SDC implements in real time the first processing pipeline, including generation of static parameters for a set of potential SDC positions on a road section and caching of static parameters in association with corresponding ones of the set of potential positions. The device implements in real time the second processing pipeline in parallel with the first processing pipeline, including generation of a graph structure for control of SDC on the road section. Generation of the graph structure includes generation of dynamic parameters for this rib of the graph structure, obtainment from cache memory of static parameters for this rib of the graph structure, so that this rib in the graph structure is related to dynamic parameters generated with the first processing pipeline and to dynamic parameters generated with the second processing pipeline.

EFFECT: obtainment of a device and a method for control of self-driving cars.

21 cl, 8 dwg

Description

Technical field

[0001] The present technology mainly relates to unmanned vehicles (SDC); and, in particular, to the electronic device and method of controlling the SDC.

State of the art

[0002] Unmanned vehicles (SDCs) are vehicles that can autonomously navigate through private and/or public spaces. Using a system of sensors that determine the location and/or surroundings of the SDC, logic within or associated with the SDC controls the speed, movement, braking, and steering of the SDC based on the sensor's detected location and surroundings of the SDC. For example, the computer system may use sensor data to generate future trajectories for the SDC on a road segment and may direct the operation of the SDC to follow a selected trajectory on that road segment.

[0003] One of the main technical problems in implementing the above systems is the ability of the computer system to detect an object potentially present around the vehicle, for example, the vehicle in front of the current vehicle (the current vehicle is an SDC having a computer system on board), which vehicle ahead may pose a risk/danger to the current vehicle and may require the computer system to take corrective action, whether it be braking or otherwise changing speed, stopping or changing lanes. At a more detailed level, the object detection problem lies not only in binary detection (presence or absence of an object), but also in the speed and accuracy associated with such analysis and determination (especially to avoid "false negatives", resulting in the system not identifying an object, actually present in front of or near the vehicle).

[0004] The severity of this problem is illustrated by the following hypothetical scenario. Imagine that an unmanned or semi-autonomous vehicle is driving along the route. A child (or adult, pet, etc.) is running in front of the vehicle. It is imperative that the computer system that controls the vehicle quickly detects the presence of an object and takes corrective action to avoid a collision. Naturally, the faster the computer system detects the presence of an object, the more time the computer system will have to determine corrective action and instruct the vehicle to take corrective action.

[0005] As a rule, the SDC has a variety of sensors that allow the SDC to capture and "understand" the territory around it. The SDC may use various sensor systems such as, but not limited to, camera systems, radar systems, and lidar systems. Different sensor systems may be used to collect different information and/or in a different format about the location and environment of the SDC. For example, camera systems may be used to capture image data of the SDC environment. In another example, lidar systems can be used to collect point cloud data to build 3D mapping representations of the environment and other potential features in the vicinity of the SDC.

[0006] Typically, the SDC processes the data captured by such a plurality of sensors to generate a prediction, typically using a machine learning algorithm (MLA), regarding the presence of one or more objects in the vicinity of the SDC. This prediction can then be used by the SDC to determine the most optimal current maneuver, whether it be continuing, stopping, changing direction, accelerating, or the like.

[0007] US Patent No. 8,121,749 discloses methods and systems for controlling an autonomous vehicle. The method includes controlling vehicle operations based at least in part on the cost of the ribs. An edge is a representation of a path along which a vehicle can travel. The cost of the ribs is determined by the scoring system and is based on at least one of the estimated traversal time of the rib and the ability to move along the rib. The method further includes determining the conditions of the edges on which the vehicle travels and dynamically updating the cost of the edges based on the detected conditions.

The essence of the invention

[0008] There is a need for systems and methods that avoid, reduce, or overcome the limitations of the prior art. It should be noted that in order to generate data for controlling the operation of an unmanned vehicle (SDC), such as, for example, trajectory data, a graph structure of the road section on which the SDC is currently operating may be required. For example, the electronic device may be configured to generate a graph structure representing the respective potential positions and potential transitions for SDCs on a road segment. The electronic device may determine a predetermined sequence of edges in the graph structure that (i) is related to an acceptable total cost of the edges in the sequence, and (ii) represents a potential path that the SDC should follow on the road segment. The electronic device may then generate trajectory data for the SDC to actually follow that path on the road section.

[0009] Creating a graph structure for a road section is a computationally expensive operation that can take a significant amount of time. This is due to the fact that the electronic device needs to calculate a set of parameters for the corresponding edges of the graph structure.

[00010] In the context of the present technology, an electronic device is configured to calculate at least two types of parameters for the edges of the graph structure, namely "static" and "dynamic" parameters. Generally speaking, this static parameter indicates information about a static object on a road section relative to the corresponding edge (and/or one or more potential positions associated with the edge), while this dynamic parameter indicates information about a moving object on the road section relative to the corresponding edge. edge (and/or one or more potential positions associated with the edge).

[00011] It should be noted that the static parameters of a given edge are less likely to change over time compared to the dynamic parameters of a given edge. For example, the distance between a potential position on a road segment and a static object is likely to remain the same, while the distance between that potential position and a moving object is likely to change.

[00012] The developers of the present technology have developed an electronic device that is configured to parallelize the processes of generating static and dynamic parameters. In other words, it is assumed that the electronic device can be configured to perform, on the one hand, a main processing pipeline (pipeline) for generating dynamic parameters for the edges of the graph structure, and, on the other hand, an auxiliary (parallel) processing pipeline (pipeline) for generating static parameters for the edges of the graph structure.

[00013] The developers of the present technology have realized that by removing the calculation of static parameters from the main processing pipeline and, in a sense, "offloading" this calculation to the parallel auxiliary processing pipeline, it is possible to reduce the computation time required to generate graph structures during the corresponding planning cycles. unmanned vehicle. Increasing the speed of calculating the graph structure leads to faster decision making during the operation of an unmanned vehicle.

[00014] In a first broad aspect of the present technology, a method for driving an unmanned vehicle (SDC) on a road section is provided. SDC is moving on a section of road. The SDC is controlled by an electronic device. The method is performed by an electronic device. The method includes real-time execution by the electronic device of the first processing pipeline. Execution of the first processing pipeline comprises electronically generating static parameters for a plurality of potential SDC positions on a road section. This static parameter indicates information about the static object on the road section with respect to the corresponding potential position. Execution of the first processing pipeline includes electronically caching the static parameters in the cache memory in association with the respective one of the plurality of candidate positions. The method includes real-time execution by the electronic device of the second processing pipeline in parallel with the first processing pipeline. The execution of the second data processing pipeline includes generating, by means of an electronic device, a graph structure for controlling the SDC on the road section. The graph structure has nodes and edges. This node is associated with the corresponding potential position of the SDC on the road section. This edge represents the SDC transition between the potential positions of the corresponding pair of nodes and is associated with the corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes. Generating a graph structure includes electronically generating dynamic parameters for a given edge of the graph structure. This dynamic parameter indicates information about a moving object on a road section with respect to a corresponding one of a corresponding set of intermediate potential positions. Generating a graph structure includes obtaining, by means of an electronic device, static parameters for a given edge of the graph structure from a cache memory. Static parameters for a given edge include static parameters cached in association with a corresponding set of intermediate candidate positions, and such that the given edge in the graph structure is associated with dynamic parameters generated by the first processing pipeline and dynamic parameters generated by the second processing pipeline.

[00015] In some embodiments of the method, the graph structure is a first graph structure, and generating the first graph structure is for managing SDC on the road section during the first time interval, and executing the second processing pipeline further includes generating, by means of the electronic device, a second graph structure for SDC control on the road section during the second time interval. The second graph structure has a given edge of the first graph structure. Generating the second graph structure includes electronically generating updated dynamic parameters for a given edge. This updated dynamic parameter indicates updated information about the moving object on the road section relative to the corresponding one of the corresponding set of intermediate potential positions. Generating the second graph structure includes electronically acquiring static parameters for a given edge from a cache so that the given edge in the second graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the updated dynamic parameters generated by the second processing pipeline.

[00016] In some embodiments of the method, generating static parameters for a plurality of potential SDC positions on a road section is performed at a first time point, and wherein executing the first processing pipeline further includes generating, by the electronic device, updated static parameters for a plurality of potential positions at a second time point. time, and the first time and the second time define the third time interval. The length of the third time slot is preselected based on the length of at least one of the first time slot and the second time slot to reduce the processing resources of the electronic device required to execute the first processing pipeline.

[00017] In some embodiments of the method, generating static parameters for a plurality of candidate positions includes electronically applying prioritization logic to determine the order of candidate positions for which the static parameters should be generated in the first processing pipeline.

[00018] In some embodiments of the method, the set of candidate positions includes a preselected number of candidate positions, and static parameter caching is started after the static parameters are generated for the preselected number of candidate positions.

[00019] In some embodiments of the method, the generation of static parameters for a plurality of potential SDC locations along the road section of the first processing pipeline is executed asynchronously with the generation of dynamic parameters for a given edge of the second processing pipeline graph structure.

[00020] In some embodiments of the method, a given dynamic parameter of the corresponding edge is one of the following: the distance between a given one of the corresponding set of intermediate candidate positions and the position of another moving vehicle on the road section, the distance between a given one of the corresponding set of intermediate candidate positions, and the position of the moving pedestrian on the road segment, as well as the distance between this one of the corresponding set of intermediate potential positions and the position of the moving cyclist on the road segment.

[00021] In some embodiments of the method, a given static parameter of the corresponding edge is one of the following: the distance between a given one of the corresponding set of intermediate candidate positions and the position of a traffic cone on a road section, the distance between a given one of the corresponding set of intermediate candidate positions and the stop sign position on the road section, the distance between a given one of the corresponding set of intermediate candidate positions and the position of the lane on the road section, and the distance between the given one of the corresponding set of intermediate potential positions and the position of the center of the lane on the road section.

[00022] In some embodiments of the method, the method further includes directing, by means of the electronic device, the operation of the SDC on the road section based on the graph structure. The prescription includes determining, by means of an electronic device, the cost of a given edge in the graph structure based on the corresponding static and dynamic parameters. The prescription includes electronically determining a sequence of edges in a graph structure representing a potential path for an SDC on a road section. The sequence of edges includes a given edge and is related to the acceptable total cost of the edges in the sequence. The prescription includes electronically generating a given trajectory for the SDC on the road section based on the sequence of ribs. The instruction includes the instruction, by means of the electronic device, of the operation of the SDC to travel along the road section in accordance with the predetermined trajectory.

[00023] In some embodiments of the method, the method further includes electronically directing the operation of the SDC on the road section during the second time interval based on the second graph structure. The prescription includes electronically determining the cost of a given edge in the second graph structure based on the corresponding static and updated dynamic parameters. The prescription includes electronically determining a sequence of edges in a second graph structure representing a potential path for the SDC on the road section. An edge sequence includes a given edge and is related to the acceptable total cost of the edges in the sequence. The prescription includes electronically generating a given trajectory for the SDC on the road section based on the sequence of ribs. The instruction includes the instruction, by means of the electronic device, of the operation of the SDC to travel on the road section during the second time interval in accordance with the predetermined trajectory.

[00024] In a second broad aspect of the present technology, a method for controlling an unmanned vehicle (SDC) on a road section is provided. SDC is moving on a section of road. The SDC is controlled by an electronic device. Said method may be executed by an electronic device. The method includes real-time execution by the electronic device of the first processing pipeline. Executing the first processing pipeline comprises electronically generating static parameters for a plurality of potential SDC positions on the road section for the first time interval. This static parameter indicates information about the static object on the road section with respect to the corresponding potential position. Execution of the first processing pipeline includes electronically caching the static parameters in the cache memory in association with the respective one of the plurality of candidate positions. The method includes real-time execution by the electronic device of the second processing pipeline in parallel with the first processing pipeline. Execution of the second processing pipeline includes electronically generating a graph structure for managing SDC on a road section during the second time interval. The graph structure has nodes and edges. This node is associated with the corresponding potential position of the SDC on the road section. This edge represents the SDC transition between the potential positions of the corresponding pair of nodes and is associated with the corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes. Generating a graph structure includes electronically generating dynamic parameters for a given edge of the graph structure. This dynamic parameter indicates information about a moving object on a road section with respect to a corresponding one of a corresponding set of intermediate potential positions. Generating a graph structure includes obtaining, by means of an electronic device, static parameters for a given edge of the graph structure from a cache memory. The static parameters for a given edge include static parameters cached in association with a corresponding set of intermediate candidate positions. The length of the first time slot is preselected based on the length of the second time slot to reduce the processing resources of the electronic device for executing the first processing pipeline.

[00025] In a third broad aspect of the present technology, an electronic device is provided for controlling an unmanned vehicle (SDC) on a road section. SDC is moving on a section of road. The electronic device is configured to execute the first processing pipeline in real time. To execute the first processing pipeline, the electronic device is configured to generate static parameters for a plurality of potential SDC positions on a road section. This static parameter indicates information about the static object on the road section with respect to the corresponding potential position. For executing the first processing pipeline, the electronic device is configured to cache static parameters in a cache memory in association with corresponding one of the plurality of candidate positions. The electronic device is configured to execute in real time the second processing pipeline in parallel with the first processing pipeline. To execute the second processing pipeline, the electronic device is configured to generate a graph structure for managing SDC on a road section. The graph structure has nodes and edges. This node is associated with the corresponding potential position of the SDC on the road section. This edge represents the SDC transition between the potential positions of the corresponding pair of nodes and is associated with the corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes. To generate the graph structure, the electronic device is configured to generate dynamic parameters for a given edge of the graph structure. This dynamic parameter indicates information about a moving object on a road section with respect to a corresponding one of a corresponding set of intermediate potential positions. To generate the graph structure, the electronic device is configured to obtain static parameters from the cache memory for a given edge of the graph structure. The static parameters for a given edge include the static parameters cached in association with a corresponding set of intermediate candidate positions such that the given edge in the graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the dynamic parameters generated by the second processing pipeline.

[00026] In some embodiments of the electronic device, the graph structure is the first graph structure, and the electronic device configured to generate the first graph structure is designed to control the SDC on the road section during the first time interval and to execute the second processing pipeline comprises an electronic device, configured to generate a second graph structure for controlling the SDC on the road section during the second time interval. The second graph structure has a given edge of the first graph structure. To generate the second graph structure, an electronic device is provided that is configured to generate updated dynamic parameters for a given edge. This updated dynamic parameter indicates updated information about the moving object on the road section relative to the corresponding one of the corresponding set of intermediate potential positions. To generate the second graph structure, an electronic device configured to obtain from the cache the static parameters for a given edge, so that the given edge in the second graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the updated dynamic parameters generated by the second pipeline processing.

[00027] In some embodiments of the electronic device, the generation of static parameters for a plurality of potential SDC positions on a road segment is performed at a first time, and to execute the first data processing pipeline, the electronic device is configured to generate updated static parameters for a plurality of potential positions at a second time , the first time point and the second time point define the third time interval. The length of the third time slot is preselected based on the length of at least one of the first time slot and the second time slot to reduce the processing resources of the electronic device required to execute the first processing pipeline.

[00028] In some embodiments, the electronic device for generating static parameters for a plurality of candidate positions comprises an electronic device configured to apply prioritization logic to determine the order of candidate positions for which the static parameters should be generated in the first processing pipeline.

[00029] In some embodiments of the electronic device, the plurality of candidate positions includes a preselected number of candidate positions, and the electronic device initiates static parameter caching after the static parameters have been generated for the preselected number of candidate positions.

[00030] In some embodiments of an electronic device, an electronic device configured to generate static parameters for a plurality of potential SDC locations along a road section of a first processing pipeline asynchronously from an electronic device configured to generate dynamic parameters for a given edge of the second processing pipeline graph structure.

[00031] In some embodiments of the electronic device, a given dynamic parameter of the corresponding edge is one of the following: the distance between a given one of the corresponding set of intermediate candidate positions and the position of another moving vehicle on the road section, the distance between a given one of the corresponding set of intermediate candidate positions, and the position of the moving pedestrian on the road segment, and the distance between a given one of the corresponding set of intermediate potential positions and the position of the moving cyclist on the road segment.

[00032] In some embodiments of an electronic device, a given static parameter of the corresponding edge is one of the following: the distance between a given one of the corresponding set of intermediate candidate positions and the position of a traffic cone on a road section, the distance between a given one of the corresponding set of intermediate candidate positions and the sign position stops on a road section, the distance between a given one of the corresponding set of intermediate candidate positions and the position of the lane on the road section, and the distance between this one of the corresponding set of intermediate potential positions and the position of the center of the lane on the road section.

[00033] In some embodiments of the electronic device, the electronic device is further configured to prescribe the operation of the SDC on the road section based on the graph structure. The prescription includes an electronic device configured to determine the cost of a given edge in the graph structure based on appropriate static and dynamic parameters. The prescription includes an electronic device configured to determine a sequence of edges in a graph structure representing a potential path for an SDC on a road segment. An edge sequence includes a given edge and is related to the acceptable total cost of the edges in the sequence. The prescription includes an electronic device configured to generate a given trajectory for the SDC on the road section based on the sequence of ribs. Prescribing contains an electronic device configured to prescribe the operation of the SDC for movement along a road section in accordance with a given trajectory.

[00034] In some embodiments of the electronic device, the electronic device is further configured to direct the operation of the SDC on the road section during the second time interval based on the second graph structure. The prescription includes an electronic device configured to determine the cost of a given edge in the second graph structure based on the corresponding static and updated dynamic parameters. The prescription includes an electronic device configured to determine a sequence of edges in a second graph structure representing a potential path for an SDC on a road section. The sequence of edges includes a given edge and is related to the acceptable total cost of the edges in the sequence. The prescription includes an electronic device configured to generate a predetermined trajectory for the SDC on a road section based on a sequence of ribs. Prescribing contains an electronic device configured to prescribe the operation of the SDC for movement on a road section during a second time interval in accordance with a given trajectory.

[00035] As used herein, the term "environment" of a given vehicle refers to the area or volume around a given vehicle, including the portion of its current environment, available for scanning using one or more sensors mounted on a given vehicle, for example, for generating a three-dimensional map of such an environment or detecting objects in it.

[00036] As used herein, a "region of interest" may broadly include a portion of the observed environment of a lidar system in which one or more objects may be detected. It should be noted that the region of interest of the lidar system can be affected by various conditions such as, but not limited to: the orientation of the lidar system (eg, the direction of the optical axis of the lidar system); position of the lidar system in relation to the environment (for example, distance above the ground and adjacent terrain and obstacles); operating parameters of the lidar system (for example, radiation power, computational settings, specified operating angles), etc. The ROI of a lidar system can be defined, for example, as a planar angle or a solid angle. In one example, the ROI may also be determined within a certain range of distances (eg, up to 200 m or so).

[00037] As used herein, a "server" is a computer program that runs on appropriate hardware and is capable of receiving requests (eg, from client devices) over a network and fulfilling or causing those requests to be executed. The hardware may be implemented as one physical computer or one physical computer system, but neither is required with respect to the present technology. In this context, the use of the term "server" is not intended to imply that every task (e.g. received instructions or requests) or any particular task was accepted, executed or called to be executed by the same server (i.e. the same software and/or or hardware) this means that any number of software elements or hardware devices may be involved in receiving/sending, executing or facilitating any task or request or the consequences of any task or request; and all such software and hardware may be a single server or multiple servers, both of which are included in the expression "at least one server".

[00038] As used herein, an "electronic device" is any computer hardware that is capable of running software appropriate to the task at hand. In the context of the present description, the term "electronic device" implies that the device can function as a server for other electronic devices and client devices, however, this is not necessary in relation to the present technology. Thus, some (non-limiting) examples of electronic devices include personal computers (desktops, laptops, netbooks, etc.), smartphones and tablets, and network equipment such as routers, switches, and gateways. It should be understood that in this context, the fact that a device functions as an electronic device does not mean that it cannot function as a server for other electronic devices. The use of the term "electronic device" does not preclude the use of multiple client devices to receive/send, perform or enable any task or request, or the consequences of any task or request, or the steps of any method described herein.

[00039] As used herein, a "client device" is any computer hardware that is capable of running software appropriate for the task at hand. In the context of the present description, the term "client device" is usually associated with the user of the client device. Thus, some (non-limiting) examples of client devices include personal computers (desktops, laptops, netbooks, etc.), smartphones and tablets, and network equipment such as routers, switches, and gateways. It should be noted that a device acting as a client device in this context is not prohibited from acting as a server for other client devices. The use of the term "client device" does not preclude the use of multiple client devices to receive/send, perform, or enable any task or request, or the consequences of any task or request, or the steps of any method described herein.

[00040] In the context of the present description, the expression "information" includes information of any nature or kind that can be stored in a database. Thus, information includes, but is not limited to, audiovisual works (images, films, sound recordings, presentations, etc.), data (location data, numerical data, etc.), text (opinions, comments , questions, messages, etc.), documents, spreadsheets, etc.

[00041] In the context of the present description, the expression "software component" means the inclusion of software (suitable for a particular hardware context) that is both necessary and sufficient to perform the particular function(s) referred to.

[00042] As used herein, the term "computer storage medium" (also referred to as "media") is intended to include media of any kind and type, including, without limitation, RAM, ROM, discs (CD-ROMs), DVDs, floppy disks, hard drives, etc.), USB keys, solid state drives, tape drives, etc. A plurality of components may be combined to form computer storage media, including two or more media components of the same type and/or two or more media components of different types.

[00043] As used herein, a "database" is any structured set of data, regardless of its specific structure, database management software, or computer hardware on which the data is stored, implemented, or otherwise made available for use. The database may reside on the same hardware as the process that stores or uses the information stored in the database, or it may reside on separate hardware such as a dedicated server or multiple servers.

[00044] In the context of this description, the words "first", "second", "third", etc. were used as adjectives only for the purpose of providing a distinction between the nouns they modify relative to one another, and not for the purpose of describing any specific relationship between those nouns. Thus, for example, it should be understood that the use of the terms "first database" and "third server" is not intended to imply any particular order, type, chronology, hierarchy or ranking (for example) of/between servers and their use (itself by itself) does not imply that any "second server" must necessarily exist in any given situation. Also, as discussed here in other contexts, referring to a "first" element and a "second" element does not prevent the two elements from being the same actual real world element. Thus, for example, in some cases the "first" server and the "second" server may be the same software and/or hardware components, in other cases they may be different software and/or hardware components.

[00045] Each of the implementations of the present technology has at least one of the above objects and/or aspects, but does not necessarily have all of them. It should be understood that some aspects of the present technology that have arisen in an attempt to achieve the aforementioned goal may not satisfy this goal and/or satisfy other goals that are not explicitly described in this document.

[00046] Additional and/or alternative features, aspects, and advantages of implementations of the present technology will become apparent from the following description, the accompanying drawings, and the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

[00047] These and other features, aspects, and advantages of the present technology will become more apparent from the following description, the appended claims, and the accompanying drawings, in which:

[00048] Figure 1 depicts a schematic diagram of an exemplary computer system configured to implement some non-limiting embodiments of the present technology.

[00049] FIG. 2 is a schematic diagram of a networked computing environment suitable for use with certain non-limiting embodiments of the present technology.

[00050] FIG. 3 depicts a representation of a vehicle moving on a stretch of road, in accordance with some embodiments of the present technology.

[00051] FIG. 4 depicts a representation of a first graph structure generated by the electronic device of FIG. 2 for a road segment, in accordance with some embodiments of the present technology.

[00052] FIG. 5 is a representation of how data is generated in an electronic device parallel auxiliary processing pipeline, stored in, and retrieved from an electronic device cache for an electronic device main processing pipeline, in accordance with some embodiments of the present technology.

[00053] FIG. 6 is a representation of how data is generated in the main processing pipeline, stored in, and retrieved from the cache of an electronic device for the main processing pipeline in accordance with some embodiments of the present technology.

[00054] FIG. 7 is a schematic representation of a method performed by an electronic device in accordance with at least some non-limiting embodiments of the present technology.

[00055] FIG. 8 is a schematic representation of another method performed by an electronic device in accordance with at least some non-limiting embodiments of the present technology.

Detailed description

[00056] The examples and conventions provided herein are intended primarily to help the reader understand the principles of the present technology, and not to limit its scope to such specific examples and terms. It should be understood that those skilled in the art will be able to develop various mechanisms that, although not explicitly described in this document, nevertheless embody the principles of the present technology and are included in its essence and scope.

[00057] In addition, the following description may describe implementations of the present technology in a relatively simplified manner for purposes of ease of understanding. Those skilled in the art will appreciate that various implementations of the present technology may be more complex.

[00058] In some cases, examples of modifications to the present technology that are considered useful may also be set forth. This is done only to promote understanding and again not to rigorously define the scope or delineate the boundaries of the present technology. These modifications are not an exhaustive list, and other modifications may be made by one skilled in the art while still remaining within the scope of the present technology. In addition, cases where examples of modifications are not given should not be interpreted to mean that no modifications can be made and/or that what is described is the only way to implement such an element of the present technology.

[00059] Moreover, all statements in this document that set forth the principles, aspects, and implementations of technology, as well as their specific examples, are intended to cover both their structural and functional equivalents, whether they are currently known or are being developed in the future. Thus, for example, those skilled in the art will appreciate that any block diagrams herein represent conceptual views of an illustrative circuit embodying the principles of the present technology. Likewise, it will be understood that any and all flowcharts, flow charts, state transition diagrams, pseudo-codes, and the like represent various processes that can be as such represented on computer-readable media and executed by a computer or processor, whether or not shown. such a computer or processor explicitly or not.

[00060] The functions of the various elements shown in the figures, including any functional unit labeled "processor", may be provided through the use of dedicated hardware, as well as hardware capable of executing software in conjunction with appropriate software. When provided by a processor, the functions may be provided by one dedicated processor, one shared processor, or multiple individual processors, some of which may be shared. In addition, explicit use of the term "processor" or "controller" should not be construed as referring solely to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), read-only memory (ROM) for software storage, random access memory (RAM), and non-volatile storage. Other hardware, traditional and/or specialized, may also be included.

[00061] Software modules, or simply modules, which may be referred to as software, may be represented herein as any combination of flowchart elements or other elements indicating the execution of process steps and/or textual description. Such modules may be executed by hardware that is explicitly or implicitly shown.

[00062] Given these fundamentals, consider some non-limiting examples to illustrate various implementations of aspects of the present technology.

computer system

[00063] Referring first to Figure 1, there is shown a schematic diagram of a computer system 100 suitable for use with some implementations of the present technology. Computer system 100 includes various hardware components including one or more single or multi-core processors collectively represented by processor 110, solid state drive 120, and memory 130, which may be RAM or any other type of memory.

[00064] Communication between various components of computer system 100 may be provided by one or more internal and/or external buses (not shown) (e.g., PCI bus, Universal Serial Bus, Firewire IEEE 1394 bus, SCSI bus, Serial-ATA bus, etc. .d.) with which various hardware components are electronically coupled. In accordance with embodiments of the present technology, the solid state drive 120 stores program instructions suitable for loading into memory 130 and execution by processor 110 to determine the presence of an object. For example, the program instructions may be part of a vehicle control application executed by processor 110. It should be noted that computer system 100 may have additional and/or optional components (not shown), such as network communication modules, localization modules, and the like.

Network computing environment

[00065] With reference to FIG. 2, a networked computing environment 200 is depicted suitable for use with certain non-limiting embodiments of the present technology. Networked computing environment 200 includes an electronic device 210 associated with vehicle 220 and/or associated with a user (not shown) who is associated with vehicle 220 (eg, as an operator of vehicle 220). The environment 200 also includes a server 235 communicating with the electronic device 210 via a communications network 240 (eg, the Internet, etc., as will be described in more detail below).

[00066] In at least some non-limiting embodiments of the present technology, the electronic device 210 is associated with the ability to communicate with the control systems of the vehicle 220. The electronic device 210 can be configured to control various operating systems of the vehicle 220, including, but not limited to: ECU (engine control unit), steering systems, braking systems, and signaling and lighting systems (i.e. headlights, brake lights, and/or direction indicators). In such an embodiment, vehicle 220 may be an unmanned vehicle 220.

[00067] In some non-limiting embodiments of the present technology, networked computing environment 200 may include a GPS satellite (not shown) transmitting and/or receiving a GPS signal to/from electronic device 210. It should be understood that the present technology is not limited to GPS and may use a location technology other than GPS. It should be noted that the GPS satellite may not be used at all.

[00068] The vehicle 220 with which the electronic device 210 is associated may be any vehicle for recreation or otherwise, such as a private or commercial car, truck, motorcycle, or the like. Although vehicle 220 is depicted as a ground vehicle, this may not be the case in all non-limiting embodiments of the present technology. For example, in some non-limiting embodiments of the present technology, vehicle 220 may be a waterborne vehicle, such as a boat, or an aircraft, such as a flying drone.

[00069] Vehicle 220 may be driven by a user or may be a driverless vehicle. In some non-limiting embodiments of the present technology, it is contemplated that vehicle 220 may be implemented as an unmanned vehicle (SDC). It should be noted that the specific parameters of the vehicle 220 are not limiting, these specific parameters include, for example: vehicle manufacturer, vehicle model, vehicle year, vehicle weight, vehicle dimensions, vehicle weight distribution, surface area vehicle, vehicle height, transmission type (eg 2x or 4x), tire type, brake system, fuel system, mileage, vehicle identification number and engine size.

[00070] According to the present technology, the implementation of the electronic device 210 is not particularly limited. For example, the electronic device 210 may be implemented as a vehicle engine control unit, a vehicle central processing unit, a vehicle navigation device (e.g., TomTom™, Garmin™), a tablet, a personal computer built into the vehicle 220, or the like. Thus, it should be noted that electronic device 210 may or may not be permanently associated with vehicle 220. Additionally or alternatively, electronic device 210 may be implemented in a wireless communication device such as a mobile phone (eg, smartphone or cordless phone). In certain embodiments, the electronic device 210 has a display 270.

[00071] Electronic device 210 may include some or all of the components of computer system 100 depicted in FIG. 1, depending on the particular embodiment. In some embodiments, electronic device 210 is an on-board computing device and includes a processor 110, a solid state drive 120, and memory 130. In other words, electronic device 210 includes hardware and/or software and/or firmware, or a combination thereof for data processing, as will be described in more detail below.

[00072] In some non-limiting embodiments of the present technology, communication network 240 is the Internet. In alternative non-limiting embodiments of the present technology, communications network 240 may be implemented as any suitable local area network (LAN), wide area network (WAN), private communications network, and the like. It should be clearly understood that the implementations for the communications network 240 are provided for purposes of illustration only. A communication link (not individually numbered) is provided between electronic device 210 and communication network 240, the implementation of which will depend on, among other things, how electronic device 210 is implemented. By way of example only, and not limitation, in those non-limiting embodiments of the present technology where the electronic device 210 is implemented as a wireless communication device such as a smartphone or navigation device, the communication link may be implemented as a wireless communication link. Examples of wireless links may include, without limitation, a 3G network link, a 4G link, and the like. Communication network 240 may also use a wireless connection to server 235.

[00073] In some embodiments of the present technology, server 235 is implemented as a computer server and may include some or all of the components of computer system 100 in FIG. In one non-limiting example, server 235 is implemented as a Dell™ PowerEdge™ server running the Microsoft™ Windows Server™ operating system, but may also be implemented in any other suitable hardware, software and/or firmware, or combinations thereof. In the illustrated non-limiting embodiment of the present technology, server 235 is the only server. In alternative non-limiting embodiments of the present technology, the functionality of the server 235 may be distributed and may be implemented by multiple servers (not shown).

[00074] In some non-limiting embodiments of the present technology, the processor 110 of the electronic device 210 may communicate with the server 235 to receive one or more updates. Such updates may include, but are not limited to, software updates, map updates, route updates, weather updates, and the like. In some non-limiting embodiments of the present technology, processor 110 may also be configured to send some operational data, such as routes traveled, traffic data, performance data, and the like, to server 235. Some or all of such data transmitted between vehicle 220 and server 235 may be encrypted and/or anonymized.

[00075] It should be noted that electronic device 210 may use a variety of sensors and systems to collect information about the environment 250 of vehicle 220. As seen in FIG. 2, vehicle 220 may be equipped with multiple sensor systems 280. It should be noted that different sensor systems from the plurality of sensor systems 280 may be used to collect different types of data regarding the environment 250 of the vehicle 220.

[00076] In one example, the plurality of sensor systems 280 may include various optical systems, including, but not limited to, one or more camera-type sensor systems that are mounted on vehicle 220 and are in communication with processor 110 of electronic device 210. Generally speaking, one or more camera-type sensor systems may be configured to collect image data about various parts of the environment 250 of vehicle 220. In some cases, image data provided by one or more camera-type sensor systems may be used by electronic device 210 to perform procedures. object detection. For example, electronic device 210 may be configured to feed image data provided by one or more camera-type sensor systems to an Object Detection Neural Network (ODNN) that is trained to locate and classify potential objects in the environment 250 of vehicle 220. .

[00077] In another example, the plurality of sensor systems 280 may include one or more radar-type sensor systems that are mounted on vehicle 220 and in communication with processor 110. Generally speaking, one or more radar-type sensor systems may be configured to use radio waves to collect data about various parts of the environment 250 of the vehicle 220. For example, one or more radar-type sensor systems can be configured to collect radar data about potential objects in the environment 250 of the vehicle 220, such data potentially representing the distance of the objects from a system of radar-type sensors, the orientation of objects, the speed and / or speed of objects, etc.

[00078] In a further example, the plurality of sensor systems 280 may include one or more optical detection and ranging (LIDAR) systems that are mounted on vehicle 220 and are in communication with processor 110. Generally speaking, a lidar system configured to collect data about the environment 250 of the vehicle 220, used, for example, to build a multidimensional map of objects in the environment 250 of the vehicle 220. The lidar system can be installed or modified on the vehicle 220 at various locations and/or in various configurations to collect information about the environment 250 of the vehicle 220.

[00079] For example, depending on the implementation of the vehicle 220 and the lidar system, the lidar system may be mounted on the inside, top of the windshield of the vehicle 220. However, other mounting locations for the lidar system are within the scope of this disclosure, including including on the rear window, side windows, front hood, roof, front grille, front bumper, or side of the vehicle 220.

[00080] In the context of the present technology, the electronic device 210 is configured to detect one or more objects in the environment 250 of the vehicle 220 based on data received from one or more camera systems and one or more lidar systems. For example, electronic device 210 configured to detect a given object in environment 250 of vehicle 220 may be configured to identify lidar data and camera data associated with a given object, generate a "embedding" representing features associated with a given object, and detect an object by creating a bounding box for the object.

[00081] Referring to Figure 3, there is an illustrative example 300 of a vehicle 220 in an environment 250. Assume that the vehicle 220 is moving along a section 350 of the road. The electronic device 210 may receive from the sensor system 280 information about the surroundings 250 of the vehicle 220 and, in particular, about the section 350 of the road and about one or more "actors" (also sometimes called "agents") on the section 350 of the road, for example, neighboring objects in the environment of the vehicle 220.

[00082] The electronic device 210 is configured to generate a "graph structure" for driving the vehicle 220 on a road section at a given point in time. For example, at a given time, electronic device 210 may be configured to generate a graph structure having nodes and edges connecting respective pairs of nodes. The nodes represent the respective potential positions of the vehicle 220 on the road section 350, and the edges represent the transitions between the respective pairs of potential positions. In this case, the electronic device 210 may determine a predetermined sequence of edges in such a graph structure that (i) is related to the acceptable total cost of the edges in the sequence, and (ii) represents the potential path that the SDC should take on the road segment 350. Note, that the electronic device 210 can use this information to generate trajectory data for the vehicle 220 to actually follow that path on the road section 350.

[00083] To better illustrate this, reference will now be made to FIG. 4, which shows a non-limiting example of a graph structure 420 that electronic device 210 may be configured to generate for road segment 350 at a given time. The graph structure 420 has a plurality of nodes (not numbered) and a plurality of edges (not numbered) connecting respective nodes of the node set. For example, edge 450 of graph structure 420 connects first node 451 and second node 452. This node is associated with the respective potential position of vehicle 220 on road section 350. This edge represents the transition of the vehicle 220 between the potential positions of the corresponding pair of nodes. For example, edge 450 represents the transition of vehicle 220 between its potential positions of first node 451 and second node 452.

[00084] It should be noted that the electronic device 210 may be configured to store information in association with a respective node and a respective edge of the graph structure 420. For example, electronic device 210 may be configured to store positional data in association with a given node. In another example, electronic device 210 may be configured to store, in association with a given edge, the positional data of a respective pair of nodes.

[00085] In addition, it is contemplated that additional data may be stored in association with the corresponding node of graph structure 420. We can say that additional data can be stored in association with the appropriate node of the graph structure 420 and indicate at least some information about the potential state of the vehicle 220 on the section 350 of the road.

[00086] In the context of the present technology, when generating the graph structure 420, the electronic device 210 is configured to generate parameters for the corresponding edges of the graph structure 420 and store those parameters in association with the corresponding edges in a cache. In at least some embodiments of the present technology, electronic device 210 may be configured to assign a unique identifier (UID) to a corresponding node of graph structure 420. Thus, electronic device 210 may be configured to store information about a given edge (including its parameters) in association with a corresponding pair of UIDs in a cache. Therefore, when information about a given edge is to be retrieved for further processing, electronic device 210 can use the UID pair of the corresponding pair of nodes as a "key" to access information about a given edge in the cache. It can be said that the electronic device 210 can be configured to store an "entry" for a given edge with the corresponding UID pair as the key for that entry in the cache.

[00087] Electronic device 210 may use graph structure 420 to control vehicle 220 on road section 350. To this end, the electronic device 210 may generate a "path" for the vehicle 220 on the road section that represents the corresponding sequence of edges in the graph structure 420. Generally speaking, the electronic device 210 may be configured to generate one or more potential paths that the vehicle 220 may follow on the road section 350. These paths can also be ranked among themselves based on the total cost associated with the corresponding sequence of edges.

[00088] For example, rib cost criteria may be applied to parameters of corresponding ribs in a given sequence to determine a "total cost" for the rib sequence. Electronic device 210 may rank the paths based on how expensive the corresponding sequence of edges is. The electronic device 210 may also use the parameters of the corresponding rib sequence to generate a trajectory for the vehicle 220 to follow the given path. This means that the electronic device 210 may be configured to generate trajectory data for steering the vehicle 220 on the road section 350 based on the rib data associated with the rib sequence. The electronic device 210 may also prescribe the operation of the vehicle 220 in accordance with the trajectory thus determined along the section 350 of the road. It should be noted that the electronic device 210 may be configured to periodically generate graph structures at appropriate times during operation of the vehicle 220, similar to how the electronic device 210 generates the graph structure 420.

[00089] It should be noted that generating graph structure 420 is a computationally expensive operation that can take a significant amount of time. This is because the electronic device 210 needs to calculate a set of parameters for the corresponding edges of the graph structure 420. In at least some embodiments of the present technology, the developers of the present technology have developed methods and electronic devices to improve the efficiency of the graph structure generation process.

[00090] It should be noted that a given edge can be associated with at least two types of parameters, namely "dynamic parameters" and "dynamic parameters". How static parameters and dynamic parameters are created will be described in more detail below. However, it should be noted that the developers of the present technology have realized that the electronic device 210 can be configured to parallelize the processes of generating static and dynamic parameters. In other words, it is contemplated that the electronic device 210 can be configured to execute a first processing pipeline to generate dynamic parameters for the edges of the graph structure 420 and a second (parallel) processing pipeline to generate static parameters for the edges of the graph structure 420.

[00091] In the context of the present technology, the first given processing pipeline may be referred to as the "main processing pipeline" or "dynamic processing pipeline", which is used by electronic device 210 to (i) generate dynamic parameters for the corresponding edges of a given graph structure and (ii) extract from static parameter caches for the corresponding edges of the given graph structure. The second given processing pipeline may be referred to as the "auxiliary processing pipeline" or "static processing pipeline", which is used by the electronic device to (i) generate static parameters for the potential positions in road section 350 and (ii) cache the static parameters of the corresponding potential positions in section 350 roads in cache.

[00092] The developers of the present technology have realized that executing two processing pipelines in parallel (e.g., calculating dynamic parameters and static parameters in a parallel manner) can reduce the amount of time required to create a graph structure and, in turn, can reduce the total amount of time required to generate data about the trajectory of the vehicle 220 on the section 350 of the road. Increasing the computational speed of the graph structure generation process while the vehicle 220 is running is beneficial to the operation of the vehicle 220.

[00093] How the electronic device 210 is configured to implement the auxiliary processing pipeline and the main processing pipeline in at least some embodiments of the present technology will be discussed in turn with reference to FIG.

Static pipeline

[00094] Figure 5 depicts a representation of an auxiliary processing pipeline 510 executed by an electronic device 210 in real time during operation of the vehicle 220. SAC) at a first time (not numbered) and a second SAC operation 512 at a second time (not numbered). During the first SAC operation 511, the electronic device 210 is configured to cache the first static data 513 in the cache 550. During the second SAC operation 512, the electronic device 210 is configured to cache the second static data 514 in the cache 550.

[00095] It should be noted that the electronic device 210 may generate the first static data 513 by calculating static parameters for a plurality of potential positions of the vehicle 220 on the section 350 of the road. Generally speaking, this static parameter indicates information about the static object on the section 350 of the road relative to the corresponding potential position. For example, a given static parameter may be, but is not limited to:

- the distance between the corresponding potential position and the position of the traffic cone on section 350 of the road;

- the distance between the corresponding potential position and the position of the stop sign on the section 350 of the road;

- the distance between the corresponding potential position and the position of the lane on the section 350 of the road; And

- the distance between the corresponding potential position and the position of the center of the lane on section 350 of the road.

[00096] It is contemplated that the electronic device 210 may be configured to calculate static parameters for a large number of potential positions on the road section 350. For example, the electronic device 210 may be configured to generate static parameters for the candidate locations of the respective nodes of a given graph structure, and for other candidate locations that are intermediate to the respective potential node locations of a given graph structure.

[00097] In at least some embodiments of the present technology, due to the fact that the electronic device 210 can identify a large number of potential positions on the road section 350, the electronic device 210 can be configured to apply "priority" logic to determine the order potential positions for which static parameters should be generated. For example, electronic device 210 may be configured to prioritize the generation of static parameters for potential positions that are closest to lane centers. In one embodiment, the electronic device 210 may be configured to generate static parameters for a preselected number of highest priority potential positions. In another embodiment, electronic device 210 may be configured to generate static parameters for potential positions, ordered based on their priority, and until a preselected time limit is reached.

[00098] Once the electronic device 210 generates static parameters for a plurality of potential positions on the road section 350, the electronic device 210 may store the first static data 513 in the cache 550 in association with the corresponding candidate positions.

[00099] The electronic device 210 can also be configured to periodically perform the generation of static parameters for the respective potential positions. For example, once the electronic device 210 performs the first SAC operation 511, the electronic device 210 may begin a new cycle of generating static parameters. In some embodiments, it can be said that the electronic device 210 can be configured to recalculate and/or update the static parameters for at least some candidate positions and/or calculate the static parameters for other candidate positions. This generation process occurs during time slot 515 and ends with a second SAC operation 512 during which second static data 514 is stored in cache 550.

[000100] We can say that the electronic device 210 can be configured to store static data in the cache memory 550 "packets", that is, during the appropriate static generation cycle, the electronic device 210 can be configured to generate the corresponding static data and store ( and/or updates) of static data in cache 550. The size of a given packet, such as the size of second static data 514, for example, may depend on the length of time slot 515. How the length of time slot 515 is determined will be described in more detail below.

Dynamic pipeline

[000101] FIG. 4 also depicts a main processing pipeline 520 executed by the electronic device 210 in real time during operation of the vehicle 220. As part of the main processing pipeline 520, the electronic device 210 is configured to perform a first graph structure generation (GSG) operation 521 ) at the first time (not numbered), the second GSG operation 522 at the second time (not numbered), and the third GSG operation 523 at the third time (not numbered).

[000102] During the first GSG operation 521, the electronic device 210 is configured to generate dynamic parameters for the corresponding edges of the first graph structure and extract static parameters for the corresponding edges of the first graph structure. Electronic device 210 may be configured to use the first graph structure thus generated to control vehicle 220 during time interval 525 and/or prior to second GSG operation 522 at a second time. During the second GSG operation 522, the electronic device 210 is configured to generate dynamic parameters for the corresponding edges of the second graph structure and extract static parameters for the corresponding edges of the second graph structure. It is contemplated that the first graph structure and the second graph structure may share at least some of the edges, or, in other words, at least some of the edges of the second graph structure may correspond to the edges of the first graph structure, without departing from the scope of the present technology. The electronic device 210 may be configured to use the second graph structure thus generated to control the vehicle 220 until the third GSG operation 523 at the third time. During the third GSG operation 523, the electronic device 210 is configured to generate dynamic parameters for the corresponding edges of the third graph structure and retrieve (latest/updated) static parameters for the corresponding edges of the third graph structure. It is contemplated that the second graph structure and the third graph structure may share at least some of the edges, or, in other words, at least some of the edges of the third graph structure may correspond to the edges of the second graph structure, without departing from the scope of the present technology. The electronic device 210 may be configured to use the third graph structure thus generated to control the vehicle 220 until the next GSG operation.

[000103] Returning to the description of the first GSG operation 521, the electronic device 210 may generate dynamic parameters for the corresponding edges of the first graph structure. Generally speaking, a given dynamic parameter indicates information about a moving object in road section 350 relative to a corresponding one of a corresponding set of intermediate potential positions associated with a given edge. As mentioned above, this edge connects a pair of respective nodes associated with a respective pair of potential vehicle 220 positions on road section 350. However, it can also be said that this edge is also associated with a set of intermediate candidate positions in the road section 350 between the corresponding pair of potential positions, and what intermediate potential positions the vehicle 220 will be in if the vehicle 220 tries to move between the corresponding pair of potential positions (associated with the corresponding pair of nodes).

[000104] For example, a given dynamic parameter may be, but is not limited to:

- the distance between the corresponding intermediate potential position and the position of another moving vehicle on the section 350 of the road;

- the distance between the corresponding intermediate potential position and the position of a moving pedestrian on section 350 of the road; And

- the distance between the corresponding intermediate potential position and the position of the moving cyclist on section 350 of the road.

[000105] In addition to generating dynamic parameters for the respective edges of the first graph structure, the electronic device 210 is further configured during the first GSG operation 521 to retrieve the static parameters for the corresponding edges of the first graph structure from the cache 550. To this end, the electronic device 210 may be configured with the ability to send a request 526 to the cache 550 to retrieve the relevant static data.

[000106] Request 526 can take many forms. In one embodiment, query 526 may indicate information regarding pairs of respective UIDs associated with respective edges from the first graph structure. In another embodiment, query 526 may also indicate information regarding respective sets of intermediate candidate positions associated with respective edges from the graph structure. Regardless of the specific information included in query 526, query 526 contains information that allows the identification and retrieval of static parameters stored in cache 550 and associated with sets of intermediate candidate positions of corresponding edges of the first graph structure. As such, electronic device 210 may receive third static data 516 containing static parameters associated with sets of potential positions of respective edges of the first graph structure.

[000107] It can be said that the third static data 516 is a subset of the first static data 513 stored by the electronic device 210 during the execution of the auxiliary processing pipeline 510.

[000108] Similarly, during the second GSG operation 522, the electronic device 210 may generate dynamic parameters for the respective edges of the second graph structure and retrieve the static parameters for the corresponding edges of the second graph structure from the cache 550. To this end, the electronic device 210 may be configured with the ability to send a request 527 to the cache 550 to retrieve the relevant static data. Query 527 contains information that allows the identification and retrieval of static parameters stored in cache 550 and associated with the potential positions of the respective edges of the second graph structure. As such, electronic device 210 may receive fourth static data 517 containing static parameters associated with sets of potential positions of respective edges of the second graph structure.

[000109] It can be said that the fourth static data 517 is a subset of the first static data 513 stored by the electronic device 210 during the execution of the auxiliary processing pipeline 510. In some embodiments of the present technology, if the first graph structure and the second graph structure share at least one edge, it is contemplated that the third static data 516 and fourth static data 517 may include static parameters for at least one common edge.

[000110] It should be noted that the static parameters of a given edge are less likely to change over time compared to the dynamic parameters of a given edge. For example, the distance between a potential position on road section 350 and a static object is likely to remain the same, while the distance between that potential position and a moving object is likely to change. For this reason, it is useful to perform GSG operations more frequently than SAC operations in order to have accurate attributes associated with graph structure edges.

[000111] Similar to what was described above for the first and second GSG operations 521 and 522, during the third GSG operation 523, the electronic device 210 may generate dynamic parameters for the corresponding edges of the third graph structure and extract static parameters for the corresponding edges of the third graph structure from cache memory 550. To this end, the electronic device 210 may be configured to send a request 528 to the cache memory 550 to retrieve the relevant static data. Query 528 contains information that allows the identification and retrieval of static parameters stored in cache 550 and associated with the potential positions of the respective edges of the third graph structure. As such, the electronic device 210 may receive fifth static data 518 containing static parameters associated with sets of potential positions of respective edges of the third graph structure.

[000112] It can be said that the fifth static data 518 is a subset of the second static data 514 stored by the electronic device 210 during the execution of the auxiliary processing pipeline 510, since the second SAC operation 512 occurred before the third GSG operation 523.

[000113] The developers of the present technology have realized that thus eliminating the calculation of static parameters from the main processing pipeline 520 and in a sense "offloading" this calculation to the parallel auxiliary processing pipeline 510 can reduce the time required for the electronic device 210 to perform operations 521, 522 and 523 GSG compared to a given GSG operation, during which both dynamic and static parameters must be calculated in the same processing pipeline. Indeed, unlike the GSG operation, during which both dynamic and static parameters are computed in the same processing pipeline, some embodiments of the present technology allow parallel computation and caching of static parameters so that they can be retrieved from the cache during operation 521 , 522 and 523 GSG, leaving only the calculation of the dynamic parameters in the main processing pipeline 520.

[000114] It should also be noted that in the non-limiting example shown in FIG. 5, GSG operations and SAC operations do not occur at the same times. Thus, it can be said that in some embodiments of the present technology, the generation of static parameters for multiple potential positions (SAC operations) by electronic device 210 can be performed asynchronously from the generation of dynamic parameters (GSG operations) by electronic device 210. In fact, as mentioned earlier, the frequency of operations The GSG may differ from the frequency of SAC operations, which means that GSG operations may occur at a different frequency than SAC operations.

[000115] In at least some embodiments of the present technology, it is contemplated that the frequency of SAC operations may be pre-selected by the operator of the electronic device 210 based on the frequency of GSG operations.

[000116] In the first example, assume that time slot 515 is chosen to be significantly shorter than time slot 525, which means that SAC operations will be performed at a significantly higher frequency than GSG operations. This choice of timeslot 515 based on timeslot 525 may be undesirable because a large number of packets would need to be cached. It should be noted that making cache write calls is resource intensive, and therefore having a large number of packets increases the amount of resources needed to cache them.

[000117] In the second example, assume that time slot 515 is chosen to be significantly longer than time slot 525, which means that SAC operations will be performed at a significantly lower frequency than GSG operations. This choice of timeslot 515 based on timeslot 525 may be undesirable because very large packets need to be cached on each SAC operation. It should be noted that the longer the time interval 525, the more time the electronic device 210 has to generate static data, and the more static data will need to be cached in the second SAC operation 512. However, the larger the packet, the longer it takes to cache it in the cache 550, and therefore there is a risk that the static data it contains may already be out of date by the time the large packet is cached.

[000118] Thus, the developers of the present technology realized that the operator of the electronic device 210 can choose the length of the time slot 515 based on the length of the time slot 525 to mitigate the trade-off caused by the size of the packets generated by the auxiliary processing pipeline 510. In at least some embodiments of the present technology, the operator of the electronic device 210 may preselect the length of the slot 515 based on the length of the slot 525 such that the slot 515 is no shorter than the slot 525, and such that the resulting packets generated by the auxiliary pipeline 510 cultivations were neither too large nor too numerous.

[000119] In one example, the time interval 515 associated with SAC operations may be 400 milliseconds. In another example, the time interval 515 associated with SAC operations may be 450 milliseconds. In additional examples, the time interval 515 may be from 400 to 450 milliseconds. In other examples, time interval 515 may be about 420 milliseconds.

[000120] In one example, the time interval 525 associated with GSG operations may be 300 milliseconds. In another example, the time interval 525 associated with GSG operations may be 350 milliseconds. In additional examples, the time interval 525 may be from 300 to 350 milliseconds. In other examples, time interval 525 may be about 320 milliseconds.

[000121] In further embodiments of the present technology, it is contemplated that the electronic device 210 may be configured to further cache the dynamic parameters generated during a given GSG operation and then retrieve at least some of them during a subsequent GSG operation to reduce the number of time to generate the corresponding graph structure.

[000122] To better illustrate this, reference will now be made to FIG. 6, which shows a representation 600 of how certain dynamic parameters may be cached in cache 550 in addition to static parameters. In addition to what has been described with reference to FIG. 5 above, in the embodiment shown in FIG. 6, the electronic device 210 may be configured to further store the first dynamic data 610 generated during the first GSG operation 521 in cache memory 550. For example, the first dynamic data 610 may include dynamic parameters generated for the corresponding edges of the first graph structure that is generated during the first GSG operation 521. During the second GSG operation 522, the electronic device 210 is configured to generate a second graph structure. In this embodiment, if the second graph structure shares at least one edge with the first graph structure generated during the first GSG operation 521, the electronic device 210 may be configured to send a query 640 to the cache 550 to retrieve the relevant static parameters. (similar to what was described above), as well as dynamic parameters associated with at least one edge that is shared by the first and second graph structures. Thus, the electronic device 210 can receive a fourth static data 517 containing static parameters associated with sets of potential positions of the corresponding edges of the second graph structure (similar to that described above), as well as a second dynamic data 620 containing dynamic parameters associated with common edges between the first and second graph structures.

[000123] The developers of the present technology have realized that caching the dynamic parameters generated during the current GSG operation, in addition to the static parameters, can further reduce the amount of time required to perform a subsequent GSG operation if the subsequent graph structure shares edges with the current graph structure .

[000124] For example, if a dynamic parameter value was calculated during the first GSG operation 521 for an edge that is relatively far from the current position of the vehicle 220 on the road section 350, the accuracy of the value may be less important for the immediate operation of the vehicle 220. Therefore, instead of After recalculating the value of this far edge dynamic parameter during the second GSG operation 522, the electronic device 210 may reuse the dynamic parameter value calculated during the first GSG operation 521.

[000125] In this embodiment, shown in FIG. 6, electronic device 210 may be configured to cache first dynamic data 610 for a predetermined time limit corresponding to time slot 630. Temporary caching of dynamic parameters for edges may reduce the risk of using dynamic parameter values that may no longer be accurate enough. Indeed, since dynamic parameters tend to change over time, dynamic parameter values may no longer be eligible for reuse after a predetermined time limit has elapsed.

[000126] With reference to FIG. 7 depicts a method 700 that is performed by electronic device 210 in at least some embodiments of the present technology. It is contemplated that method 700 may be performed by electronic device 210 in real time while vehicle 220 is operating. It is also contemplated that the steps of method 700 may be performed in parallel, which will now be discussed in more detail.

STEP 710: real-time execution of the first processing pipeline, including generating static parameters for a plurality of potential SDC positions on a road segment and caching the static parameters in association with the corresponding one of the plurality of candidate positions.

[000127] The method 700 has a block 710 where the electronic device 210 executes the first processing pipeline in real time. In at least some embodiments, the first processing pipeline can be said to be the auxiliary/static processing pipeline described above.

[000128] As part of the first processing pipeline, electronic device 210 is configured to generate static parameters for a plurality of potential vehicle 220 positions along road section 350. Generally speaking, a given static parameter indicates information about a static object in road section 350 with respect to the corresponding potential position associated with a given edge. As part of the first processing pipeline, the electronic device 210 is configured to cache in a cache memory (cache memory 550) static parameters in association with corresponding one of a plurality of candidate positions. Cache memory 550 may be implanted as a hardware component, a software component, and/or a combination of the two to store data so that future requests for that data can be served more quickly. For example, data stored in cache 550 may be the result of an earlier calculation or a copy of data stored elsewhere.

[000129] In some embodiments of the present technology, it is contemplated that electronic device 210 may be configured to apply prioritization logic to determine the order of candidate positions for which static parameters should be generated in the first processing pipeline. For example, the set of candidate positions for which the static parameters are generated may include a pre-selected number of candidate positions (having the highest ranking based on the prioritization logic). Static parameter caching can be started after static parameters have been generated for a preselected number of candidate positions. In another example, the set of candidate positions for which static parameters are generated may include the highest-ranked candidate positions from a list of candidate positions for which electronic device 210 has sufficient time to generate static parameters before a predetermined time limit expires.

[000130] In some embodiments, the given static parameter of the respective edge may be one of the following: the distance between a given one of the respective set of intermediate candidate positions and the position of the traffic cone on the road section, the distance between the given one of the respective set of intermediate candidate positions and the position of the stop sign on the road section, the distance between a given one of the corresponding set of intermediate candidate positions and the position of the lane on the road section, and the distance between the given one of the corresponding set of intermediate potential positions and the position of the center of the lane on the road section.

STEP 720: real-time execution of the second processing pipeline in parallel with the first processing pipeline, comprising generating a graph structure for managing SDC on the road section.

[000131] The method has a step 720 during which the electronic device 210 is configured to execute in real time the second processing pipeline in parallel with the first processing pipeline of step 710. In at least some embodiments, the second processing pipeline can be said to be the main/ dynamic processing described above.

[000132] It can also be said that steps 710 and 720 of method 700 can be performed by electronic device 210 in parallel. In at least some embodiments, electronic device 210 may be configured to allocate first processing resources to perform step 710 and second processing resources to perform step 720. It is contemplated that the first processing resources may be different from the second processing resources.

[000133] As part of the second processing pipeline, the electronic device is configured to generate a graph structure for driving vehicle 220 on road section 350. The graph structure has nodes and edges, whereby a given node is associated with a respective potential position of vehicle 220 on road section 350, whereby this edge represents the transition of vehicle 220 between the potential positions of the corresponding pair of nodes. This edge is associated with a corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes.

[000134] As part of the second processing pipeline, during graph structure generation, electronic device 210 is configured to generate dynamic parameters for a given graph structure edge. Generally speaking, a given dynamic parameter indicates information about a moving object on road section 350 relative to a respective one of a respective set of intermediate candidate positions (and/or candidate positions of a respective pair of nodes).

[000135] In some embodiments, a given dynamic parameter of the corresponding edge may be one of the following: the distance between a given one of the corresponding set of intermediate candidate positions and the position of another vehicle on the road section, the distance between a given one of the corresponding set of intermediate candidate positions and the position of a pedestrian on the road segment, and the distance between a given one of the corresponding set of intermediate potential positions and the position of the cyclist on the road segment. It is contemplated that the generation of static parameters may be performed by the electronic device 210 asynchronously from the generation of dynamic parameters.

[000136] As part of the second processing pipeline, during graph structure generation, electronic device 210 is configured to retrieve static parameters for a given graph structure edge from a cache. Static parameters for a given edge include static parameters cached in association with a corresponding set of intermediate candidate positions and/or candidate positions of a corresponding pair of nodes. Thus, this edge in the graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the dynamic parameters generated by the second processing pipeline.

[000137] In additional embodiments of the present technology, the graph structure may be the first graph structure among a plurality of graph structures to be generated periodically during vehicle 220 operation. Electronic device 210 may be configured to use the first graph structure for vehicle 220 operation. during the first time interval on the section 350 of the road. In these embodiments, as part of the second processing pipeline, electronic device 210 may be configured to generate a second graph structure for driving vehicle 220 on road section 350 during the second time interval. The second graph structure may share this edge with the first graph structure. The generation of the second graph structure comprises an electronic device 210 configured to generate updated dynamic parameters for a given edge. This updated dynamic parameter may indicate updated information about a moving object on a road section with respect to a respective one of a respective set of intermediate candidate positions (and/or candidate positions of a respective pair of nodes). The generation of the second graph structure comprises an electronic device 210 configured to obtain from the cache the static parameters for a given edge, so that the given edge in the second graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the updated dynamic parameters generated by the second pipeline processing.

[000138] In some embodiments, the generation of static parameters for a plurality of potential positions of vehicle 220 on road section 350 may be performed at a first time. In these embodiments, the execution of the first processing pipeline may further comprise an electronic device 210 configured to generate updated static parameters for a plurality of potential positions at a second time point, wherein the first time point and the second time point define a third time interval. It should be noted that the length of the third time slot may be preselected based on the length of at least one of the first time slot and the second time slot to reduce the processing resources of the electronic device required to execute the first processing pipeline as explained above.

[000139] In other embodiments, method 700 may further comprise an electronic device 210 that directs vehicle 220 to operate on road section 350 based on a graph structure. For example, electronic device 210 may be configured to determine the cost of a given edge in the graph structure based on appropriate static and dynamic parameters. Electronic device 210 may use one or more cost criteria known in the art to determine cost. The electronic device 210 is also configured to determine a sequence of edges in the graph structure representing a potential path for the vehicle 220 on the road section 350 . The sequence of edges includes a given edge and is related to the acceptable total cost of the edges in the sequence. The electronic device 210 is also configured to generate a predetermined path for the vehicle 220 on the road section 350 based on the sequence of ribs. For example, electronic device 210 may be configured to generate , among other things, a speed profile for vehicle 220 to follow a sequence of ribs on road section 350. The electronic device 210 is also configured to direct the operation of the vehicle 220 to move along the road section in accordance with a predetermined trajectory.

[000140] With reference to FIG. 8 depicts a method 800 that is performed by electronic device 210 in at least some embodiments of the present technology. It is contemplated that method 800 may be performed by electronic device 210 in real time while vehicle 220 is operating. It is also contemplated that the steps of method 800 may be performed in parallel, which will now be discussed in more detail.

STEP 810: real-time execution of the first processing pipeline, including generating static parameters for a plurality of potential SDC positions on a road segment during the first time interval, and caching the static parameters in association with the respective one of the plurality of candidate positions

[000141] Method 800 has step 810, in which the electronic device 210 executes in real time the first processing pipeline. In at least some embodiments, the first processing pipeline can be said to be the auxiliary/static processing pipeline described above.

[000142] As part of the first processing pipeline, electronic device 210 is configured to generate static parameters for a plurality of potential vehicle 220 positions along road section 350. Generally speaking, a given static parameter indicates information about a static object in road section 350 with respect to the corresponding potential position associated with a given edge. As part of the first processing pipeline, the electronic device 210 is configured to cache in a cache memory (cache memory 550) static parameters in association with corresponding one of a plurality of candidate positions. Cache memory 550 may be implanted as a hardware component, a software component, and/or a combination of the two to store data so that future requests for that data can be served more quickly. For example, data stored in cache 550 may be the result of an earlier calculation or a copy of data stored elsewhere. It should be noted that the generation of static parameters for a plurality of potential positions of the vehicle 220 on the section 350 of the road can be performed for the first time interval.

[000143] In some embodiments of the present technology, it is contemplated that electronic device 210 may be configured to apply prioritization logic to determine the order of candidate positions for which static parameters should be generated in the first processing pipeline. For example, the set of candidate positions for which the static parameters are generated may include a pre-selected number of candidate positions (having the highest ranking based on the prioritization logic). Static parameter caching can be started after static parameters have been generated for a preselected number of candidate positions. In another example, the set of candidate positions for which static parameters are generated may include the highest-ranked candidate positions from a list of candidate positions for which electronic device 210 has sufficient time to generate static parameters before a predetermined time limit expires.

[000144] In some embodiments, the given static parameter of the corresponding edge may be one of the following: the distance between a given one of the corresponding set of intermediate candidate positions and the position of the traffic cone on the road section, the distance between the given one of the corresponding set of intermediate candidate positions and the position of the stop sign on the road section, the distance between a given one of the corresponding set of intermediate candidate positions and the position of the lane on the road section, and the distance between the given one of the corresponding set of intermediate potential positions and the position of the center of the lane on the road section.

STEP 820: real-time execution of the second processing pipeline in parallel with the first processing pipeline, comprising generating a graph structure for managing SDC on a road section during a second time slot, wherein the length of the first time slot is preselected based on the length of the second time slot to reduce electronic processing resources. devices for executing the first processing pipeline

[000145] The method has a step 820 during which the electronic device 210 is configured to execute in real time the second processing pipeline in parallel with the first processing pipeline of step 810. In at least some embodiments, the second processing pipeline can be said to be primary/dynamic processing pipeline described above.

[000146] It can also be said that steps 810 and 820 of method 800 can be performed by electronic device 210 in parallel. In at least some embodiments, electronic device 210 may be configured to allocate first processing resources to perform step 810 and second processing resources to perform step 820. It is contemplated that the first processing resources may be different from the second processing resources.

[000147] As part of the second processing pipeline, the electronic device is configured to generate a graph structure for driving vehicle 220 on road section 350. The graph structure has nodes and edges, whereby a given node is associated with a respective potential position of vehicle 220 on road section 350, whereby this edge represents the transition of vehicle 220 between the potential positions of the corresponding pair of nodes. This edge is associated with a corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes.

[000148] As part of the second processing pipeline, during graph structure generation, electronic device 210 is configured to generate dynamic parameters for a given graph structure edge. Generally speaking, a given dynamic parameter indicates information about a moving object on road section 350 relative to a respective one of a respective set of intermediate candidate positions (and/or candidate positions of a respective pair of nodes).

[000149] The graph structure may be generated to control the vehicle during the second time interval. It can be said that the second time interval determines the frequency of calculation of dynamic parameters, while the first time interval from step 810 determines the frequency of calculation of static parameters. It should be noted that the length of the first slot may be preselected based on the length of the second slot (eg, by an operator of the electronic device 210) to reduce the processing resources of the electronic device to execute the first processing pipeline.

[000150] In some embodiments, a given dynamic parameter of the corresponding edge may be one of the following: the distance between a given one of the corresponding set of intermediate candidate positions and the position of another vehicle on the road section, the distance between a given one of the corresponding set of intermediate candidate positions and the position of a pedestrian on the road segment, and the distance between a given one of the corresponding set of intermediate potential positions and the position of the cyclist on the road segment. It is contemplated that the generation of static parameters may be performed by the electronic device 210 asynchronously from the generation of dynamic parameters.

[000151] As part of the second processing pipeline, during graph structure generation, electronic device 210 is configured to retrieve static parameters from a cache for a given graph structure edge. Static parameters for a given edge include static parameters cached in association with a corresponding set of intermediate candidate positions and/or candidate positions of a corresponding pair of nodes. Thus, this edge in the graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the dynamic parameters generated by the second processing pipeline.

[000152] In additional embodiments of the present technology, the graph structure may be the first graph structure among a plurality of graph structures to be generated periodically during operation of the vehicle 220. The electronic device 210 may be configured to use the first graph structure to control the vehicle 220 in during the first time interval on the section 350 of the road. In these embodiments, as part of the second processing pipeline, electronic device 210 may be configured to generate a second graph structure for driving vehicle 220 on road section 350 during the second time interval. The second graph structure may share this edge with the first graph structure. The generation of the second graph structure comprises an electronic device 210 configured to generate updated dynamic parameters for a given edge. This updated dynamic parameter may indicate updated information about a moving object on a road section with respect to a respective one of a respective set of intermediate candidate positions (and/or candidate positions of a respective pair of nodes). The generation of the second graph structure comprises an electronic device 210 configured to obtain from the cache the static parameters for a given edge, so that the given edge in the second graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the updated dynamic parameters generated by the second pipeline processing.

[000153] In other embodiments, method 700 may further comprise an electronic device 210 instructing vehicle 220 to operate on road section 350 based on a graph structure. For example, electronic device 210 may be configured to determine the cost of a given edge in the graph structure based on appropriate static and dynamic parameters. Electronic device 210 may use one or more cost criteria known in the art to determine cost. The electronic device 210 is also configured to determine a sequence of edges in the graph structure representing a potential path for the vehicle 220 on the road section 350 . An edge sequence includes a given edge and is related to the acceptable total cost of the edges in the sequence. Electronic device 210 is also configured to generate a predetermined trajectory for vehicle 220 on road section 350 based on the sequence of ribs. For example, electronic device 210 may be configured to generate , among other things, a speed profile for vehicle 220 to follow a sequence of ribs in road section 350. The electronic device 210 is also configured to direct the operation of the vehicle 220 to move along the road section in accordance with a given trajectory.

[000154] Modifications and improvements to the above-described implementations of the present technology may become apparent to those skilled in the art. The preceding description is intended to be exemplary and not limiting. Therefore, it is intended that the scope of the present technology be limited only by the scope of the appended claims.

[000155] While the implementations described above have been described and shown with reference to specific steps performed in a particular order, it should be understood that some of these steps may be combined, subdivided, or reordered without deviating from the principles of the present technology. Accordingly, the order and grouping of said steps is not a limitation of the present technology.

Claims (119)

1. A method for controlling an unmanned vehicle (SDC) on a road section, wherein the SDC moves along a road section, the SDC is controlled by an electronic device, the method is performed by the electronic device, and the method includes the steps of: executing in real time by means of an electronic device the first processing pipeline, wherein the execution of the first processing pipeline comprises: generating, by means of an electronic device, static parameters for a plurality of potential SDC positions on a road section, moreover, this static parameter indicates information about the static object on the road section with respect to the corresponding potential position; caching by an electronic device in the cache memory of static parameters in association with the respective ones of the plurality of candidate positions; the second processing pipeline is executed in real time by the electronic device in parallel with the first processing pipeline, the execution of the second processing pipeline comprising: generating, by means of an electronic device, a graph structure for SDC control on a road section, the graph structure having nodes and edges, moreover, this node is associated with the corresponding potential position of the SDC on the road section, this edge represents the SDC transition between the potential positions of the corresponding pair of nodes and is associated with the corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes, where the generation of the graph structure contains: generation by means of an electronic device of dynamic parameters for a given edge of the graph structure, moreover, this dynamic parameter indicates information about the moving object on the road section relative to the corresponding one of the corresponding set of intermediate potential positions; obtaining by means of an electronic device from the cache memory of static parameters for a given edge of the graph structure, wherein the static parameters for a given edge include static parameters cached in association with a corresponding set of intermediate candidate positions; in such a way that a given edge in the graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the dynamic parameters generated by the second processing pipeline. 2. The method of claim 1, wherein the graph structure is the first graph structure, and wherein generating the first graph structure is for controlling SDC on the road section during the first time interval, and wherein executing the second processing pipeline further includes: generating, by means of the electronic device, a second graph structure for controlling SDC on a road section during a second time interval, the second graph structure having a given edge of the first graph structure, where the generation of the second graph structure contains: generating, by means of an electronic device, updated dynamic parameters for a given rib, moreover, this updated dynamic parameter indicates updated information about a moving object on a road section relative to the corresponding one of the corresponding set of intermediate potential positions; obtaining by means of an electronic device from the cache memory of static parameters for a given edge, such that a given edge in the second graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the updated dynamic parameters generated by the second processing pipeline. 3. The method of claim 2, wherein the generation of static parameters for a plurality of potential SDC positions on the road section is performed at a first point in time, and wherein the execution of the first processing pipeline further includes: generating, by means of the electronic device, updated static parameters for a plurality of potential positions at a second point in time, wherein the first point in time and the second point in time define a third time interval, wherein the length of the third time slot is preselected based on the length of at least one of the first time slot and the second time slot to reduce the processing resources of the electronic device required to execute the first processing pipeline. 4. The method of claim 1, wherein generating static parameters for a plurality of potential positions includes: application by the electronic device of prioritization logic to determine the order of candidate positions for which the static parameters are to be generated in the first processing pipeline. 5. The method of claim 1, wherein the set of candidate positions includes a preselected number of candidate positions, and wherein caching of the static parameters is started after the static parameters have been generated for the preselected number of candidate positions. 6. The method of claim 1, wherein the generation of static parameters for a plurality of potential SDC locations on a road section of the first processing pipeline is performed asynchronously with the generation of dynamic parameters for a given edge of the second processing pipeline graph structure. 7. The method of claim 1, wherein the given dynamic parameter of the corresponding edge is one of the following: the distance between a given one of the corresponding set of intermediate potential positions and the position of another moving vehicle on the road section; the distance between a given one of the corresponding set of intermediate potential positions and the position of a moving pedestrian on the road section; And the distance between a given one of the corresponding set of intermediate potential positions and the position of a moving cyclist on the road segment. 8. The method of claim. 1, in which the given static parameter of the corresponding edge is one of the following: the distance between a given one of the corresponding set of intermediate potential positions and the position of the traffic cone on the road section; the distance between a given one of the corresponding set of intermediate potential positions and the stop sign position on the road section; the distance between a given one of the corresponding set of intermediate potential positions and the lane position on the road section; And the distance between a given one of the corresponding set of intermediate potential positions and the position of the center of the lane on the road segment. 9. The method according to p. 1, while the method further comprises: prescribing by means of an electronic device the operation of the SDC on the road section based on the graph structure, the prescribing comprising: determining by means of an electronic device the cost of a given edge in the graph structure based on the respective static and dynamic parameters; determining by means of an electronic device a sequence of edges in a graph structure representing a potential path for SDC on a road section, moreover, the sequence of edges includes a given edge and is associated with an acceptable total cost of edges in the sequence; electronically generating a given trajectory for the SDC on the road section based on the rib sequence; And prescribing, via the electronic device, the operation of the SDC for driving on the road section in accordance with the given trajectory. 10. The method of claim 2, wherein the method further comprises: prescribing by means of an electronic device the operation of the SDC on the road section during the second time interval based on the second graph structure, the prescribing comprising: determining by the electronic device the cost of a given edge in the second graph structure based on the corresponding static and updated dynamic parameters; determining by means of an electronic device a sequence of edges in the second graph structure representing a potential path for SDC on a road section, moreover, the sequence of edges includes a given edge and is associated with an acceptable total cost of edges in the sequence; generating, by means of the electronic device, a predetermined path for the SDC on the road section based on the sequence of ribs; And prescribing by means of the electronic device the operation of the SDC to travel on the road section in the second time interval in accordance with the predetermined trajectory. 11. A method for controlling an unmanned vehicle (SDC) on a road section, wherein the SDC moves along a road section, the SDC is controlled by an electronic device, the method being performed by the electronic device, the method including the steps of: executing in real time by means of an electronic device the first processing pipeline, wherein the execution of the first processing pipeline comprises: generating, by means of an electronic device, static parameters for a plurality of potential SDC positions on the road section for the first time interval, moreover, this static parameter indicates information about the static object on the road section with respect to the corresponding potential position; caching by an electronic device in the cache memory of static parameters in association with the respective ones of the plurality of candidate positions; executing in real time by means of an electronic device the second processing pipeline in parallel with the first processing pipeline, wherein the execution of the second processing pipeline includes: generating, by means of an electronic device, a graph structure for managing SDC on a road section during a second time interval, the graph structure having nodes and edges, moreover, this node is associated with the corresponding potential position of the SDC on the road section, this edge represents the SDC transition between the potential positions of the corresponding pair of nodes and is associated with the corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes, where the generation of the graph structure contains: generation by means of an electronic device of dynamic parameters for a given edge of the graph structure, moreover, this dynamic parameter indicates information about the moving object on the road section relative to the corresponding one of the corresponding set of intermediate potential positions; obtaining by means of an electronic device from the cache memory of static parameters for a given edge of the graph structure, wherein the static parameters for a given edge include static parameters cached in association with a corresponding set of intermediate candidate positions; wherein the length of the first slot is preselected based on the length of the second slot to reduce the processing resources of the electronic device for executing the first processing pipeline. 12. An electronic device for controlling an unmanned vehicle (SDC) on a road section, the SDC moving on a road section, the electronic device being configured to: execute in real time the first processing pipeline, wherein, in order to execute the first processing pipeline, the electronic device is configured to: generate static parameters for a set of potential SDC positions on a road section, moreover, this static parameter indicates information about the static object on the road section with respect to the corresponding potential position; cache in the cache the static parameters in association with the corresponding one of the plurality of candidate positions; execute in real time the second processing pipeline in parallel with the first processing pipeline, and for executing the second processing pipeline, the electronic device is configured to: generate a graph structure for SDC control on a road section, and the graph structure has nodes and edges, moreover, this node is associated with the corresponding potential position of the SDC on the road section, this edge represents the SDC transition between the potential positions of the corresponding pair of nodes and is associated with the corresponding set of intermediate potential positions between the potential positions of the corresponding pair of nodes, to generate the graph structure, the electronic device is configured to: generate dynamic parameters for a given edge of the graph structure, moreover, this dynamic parameter indicates information about the moving object on the road section relative to the corresponding one of the corresponding set of intermediate potential positions; get static parameters from the cache for a given edge of the graph structure, wherein the static parameters for a given edge include static parameters cached in association with a corresponding set of intermediate candidate positions; in such a way that a given edge in the graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the dynamic parameters generated by the second processing pipeline. 13. The electronic device according to claim. 12, in which the graph structure is the first graph structure, and in which the electronic device, configured to generate the first graph structure, is designed to control the SDC on the road section during the first time interval, and in which to execute of the second processing pipeline, the electronic device is configured to: generate a second graph structure to control the SDC on the road section during the second time interval, wherein the second graph structure has a given edge of the first graph structure, to generate the second graph structure, the electronic device is configured to: generate updated dynamic parameters for the given edge, moreover, this updated dynamic parameter indicates updated information about a moving object on a road section relative to the corresponding one of the corresponding set of intermediate potential positions; get static parameters for the given edge from the cache, such that a given edge in the second graph structure is associated with the dynamic parameters generated by the first processing pipeline and with the updated dynamic parameters generated by the second processing pipeline. 14. The electronic device according to claim 13, wherein the generation of static parameters for a plurality of potential SDC positions on the road section is performed at a first time point, and in which, in order to execute the first processing pipeline, the electronic device is configured to: generate updated static parameters for a plurality of potential positions at a second time point, wherein the first time point and the second time point define a third time interval, the length of the third time slot is preselected based on the length of at least one of the first time slot and the second time slot to reduce the processing resources of the electronic device required to execute the first processing pipeline. 15. The electronic device of claim 12, wherein, in order to generate static parameters for a plurality of potential positions, the electronic device is configured to: apply prioritization logic to determine the order of potential positions for which static parameters should be generated in the first processing pipeline. 16. The electronic device of claim 12, wherein the set of candidate positions includes a preselected number of candidate positions, and wherein the electronic device starts caching the static parameters after the static parameters are generated for the preselected number of candidate positions. 17. The electronic device of claim 12, wherein the electronic device is configured to generate static parameters for a plurality of potential SDC positions on the road section of the first processing pipeline asynchronously from the electronic device, configured to generate dynamic parameters for a given edge of the second processing pipeline graph structure. 18. The electronic device of claim 12, wherein the predetermined dynamic parameter of the corresponding rib is one of the following: the distance between a given one of the corresponding set of intermediate potential positions and the position of another moving vehicle on the road section; the distance between a given one of the corresponding set of intermediate potential positions and the position of a moving pedestrian on the road section; And the distance between a given one of the corresponding set of intermediate potential positions and the position of a moving cyclist on the road segment. 19. The electronic device of claim 12, wherein the predetermined static parameter of the corresponding edge is one of the following: the distance between a given one of the corresponding set of intermediate potential positions and the position of the traffic cone on the road section; the distance between a given one of the corresponding set of intermediate potential positions and the stop sign position on the road section; the distance between a given one of the corresponding set of intermediate potential positions and the lane position on the road section; And the distance between a given one of the corresponding set of intermediate potential positions and the position of the center of the lane on the road segment. 20. An electronic device according to claim 12, wherein the electronic device is additionally configured to: prescribe the operation of the SDC on the road section based on the graph structure, and the instruction includes an electronic device configured to: determine the cost of a given edge in the graph structure based on the corresponding static and dynamic parameters; define a sequence of edges in the graph structure representing a potential path for SDC on a road section, moreover, the sequence of edges includes a given edge and is associated with an acceptable total cost of edges in the sequence; generate a given trajectory for the SDC on the road section based on the sequence of edges; And prescribe the operation of the SDC for movement along the road section according to the given trajectory. 21. An electronic device according to claim 13, wherein the electronic device is additionally configured to: instruct the operation of the SDC on the road section during the second time interval based on the second graph structure, and the instruction includes an electronic device configured to: determine the cost of a given edge in the second graph structure based on the respective static and updated dynamic parameters; determine the sequence of edges in the second graph structure representing the potential path for SDC on the road section, moreover, the sequence of edges includes a given edge and is associated with an acceptable total cost of edges in the sequence; generate a given trajectory for the SDC on the road section based on the sequence of edges; And to prescribe the operation of the SDC for movement along the road section in the second time interval in accordance with the given trajectory.

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