Provided is a method for operating an autonomous driving vehicle (ADV). The method includes the operation of segmenting a raw reference line into a plurality of reference line segments, including a first reference line segment, a second reference line segment, and a third reference line segment in a sequential order, in response to receiving the raw reference line representing a route from a firstlocation to a second location associated with the ADV. The method further includes the operations of smoothing the first reference line segment and the third reference line segment using a Quadraticprogramming (QP) spline smoother; and smoothing the second reference line segment using a spiral smoother. Smoothed reference line segments from the plurality of reference line segments are connectedto generate a smoothed reference line, which is to be used as a reference line of the route to control the ADV.
在一个实施方式中,方法包括以下操作:响应于接收表示从与自动驾驶车辆(ADV)相关联的第一位置到第二位置的路线的原始参考线,将原始参考线分割成多个参考线段,按顺序包括第一参考线段、第二参考段和第三参考线段。方法还包括以下操作:使用二次规划(QP)样条平滑算法平滑第一参考线段和第三参考线段;及使用螺旋平滑算法平滑第二参考线段。连接来自多个参考线段的平滑参考线段以生成平滑参考线,平滑参考线将用作路线的参考线以控制ADV。
A QP SPLINE PATH AND SPIRAL PATH BASED REFERENCE LINE SMOOTHING METHOD FOR AUTONOMOUS DRIVING
用于自动驾驶的基于QP样条路径和螺旋路径的参考线平滑方法
2020-12-01
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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