According to some embodiments, a system determines a number of boundary areas having predetermined dimensions centered around each of a number of control points of a first reference line. The system selects a number of two-dimensional polynomials each representing a segment of an optimal reference line between adjacent control points. The system defines a set of constraints to the two-dimensional polynomials to at least ensure the two-dimensional polynomials passes through each of the boundary areas. The system performs a quadratic programming (QP) optimization on a target function such that a total cost of the target function reaches minimum while the set of constraints are satisfied. The system generates a second reference line representing the optimal reference line based on the QP optimization to control the ADV autonomously according to the second reference line.


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    Titel :

    Smooth road reference for autonomous driving vehicles based on 2D constrained smoothing spline


    Beteiligte:
    FAN HAOYANG (Autor:in) / ZHANG LIANGLIANG (Autor:in) / ZHANG YAJIA (Autor:in) / ZHU WEICHENG (Autor:in) / JIANG YIFEI (Autor:in) / LUO QI (Autor:in) / HU JIANGTAO (Autor:in) / KONG QI (Autor:in)

    Erscheinungsdatum :

    2020-03-17


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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