In one embodiment, a computer system generates a first vehicular path based on map information. The system collects data points representing geographical coordinates of vehicles that drove on a vehicular path lane at different points in time. The system segments the first vehicular path into path segments based on the collected data points. For each of the path segments, the system applies a smoothing function to select a subset of the data points that are within a predetermined proximity of the corresponding path segment and calculates a segment reference point to represent the path segment by combining the selected data points. The segment reference points of the path segments of the first vehicular path are interpolated to generate a second vehicular path such that the second vehicular path is used as a reference line to control ADVs driving on the first vehicular path.
Scalable smooth reference path generator for autonomous driving vehicles
2020-03-03
Patent
Elektronische Ressource
Englisch
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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