In one embodiment, an exemplary method includes the operations of receiving a raw reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV); and smoothing the raw reference line using a Quadratic programming (QP) spline smoother to generate a smoothed reference line. The method further includes the operations of identifying one or more segments on the smoothed reference line, each of the identified reference line segments including a curvature that exceeds a predetermined size; and smoothing each of the one or more identified reference line segments using a spiral smoother, including optimizing each identified curvature in view of a set of constraints, such that an output of the objective function reaches a minimum value while the set of constraints are satisfied; and controlling the ADV using the smoothed reference line.


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    Title :

    SPLINE CURVE AND SPIRAL CURVE BASED REFERENCE LINE SMOOTHING METHOD


    Additional title:

    VERFAHREN ZUM GLÄTTEN VON REFERENZLINIEN AUF DER GRUNDLAGE EINER SPLINE-KURVE UND SPIRALKUVE
    PROCÉDÉ DE LISSAGE D'UNE LIGNE DE RÉFÉRENCE SUR LA BASE D'UNE COURBE EN SPIRALE ET D'UNE COURBE SPLINE


    Contributors:
    MA LIN (author) / ZHU FAN (author) / XU XIN (author)

    Publication date :

    2021-12-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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