A method of determining a smooth reference line for navigating an autonomous vehicle in a manner similar to human driving is disclosed. A high density map is used to generate a centerline for a lane of roadway. Using the centerline, a number of sample points is generated that is related to a curvature of the centerline. Adjustment points are generated at each sample point, a few on either side of the centerline at each sample point. Candidate points at a sample point include the adjustment points and sample point. A least cost path is determined through each of the candidate points at each of the sample points. Path cost is based an angle of approach and departure through a candidate point, and a distance of the candidate point from the centerline.
A TWO-STEP REFERENCE LINE SMOOTHING METHOD TO MIMIC HUMAN DRIVING BEHAVIORS FOR AUTONOMOUS DRIVING CARS
ZWEISTUFIGES REFERENZLINIENGLÄTTUNGSVERFAHREN ZUR NACHAHMUNG MENSCHLICHEN FAHRVERHALTENS FÜR AUTONOME AUTOS
PROCÉDÉ DE LISSAGE DE LIGNE DE RÉFÉRENCE EN DEUX ÉTAPES POUR IMITER LES COMPORTEMENTS DE CONDUITE HUMAINE POUR LES VOITURES À CONDUITE AUTONOME
2022-04-20
Patent
Electronic Resource
English
IPC: | 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
European Patent Office | 2020
|European Patent Office | 2021
|European Patent Office | 2020
|Should Self-Driving Cars Mimic Human Driving Behaviors?
British Library Conference Proceedings | 2021
|QP spline path and spiral path based reference line smoothing method for autonomous driving
European Patent Office | 2022
|