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.


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    Title :

    A TWO-STEP REFERENCE LINE SMOOTHING METHOD TO MIMIC HUMAN DRIVING BEHAVIORS FOR AUTONOMOUS DRIVING CARS


    Additional title:

    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


    Contributors:
    ZHANG LIANGLIANG (author) / LI DONG (author) / HU JIANGTAO (author) / TAO JIAMING (author) / ZHOU JINYUN (author)

    Publication date :

    2022-04-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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



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