According to some embodiments, a system segments a first path trajectory selected from an initial location of the ADV into a number of path segments, where each path segment is represented by a polynomial function. The system selects an objective function in view of the polynomial functions of the path segments for smoothing connections between the path segments. The system defines a set of constraints to the polynomial functions based on adjacent path segments in view of at least a road boundary and an obstacle perceived by the ADV. The system performs a quadratic programming (QP) optimization on the objective function in view of the added constraints, such that an output of the objective function reaches a minimum. The system generates a second path trajectory representing a path trajectory with an optimized objective function based on the QP optimization to control the ADV autonomously.


    Access

    Download


    Export, share and cite



    Title :

    Path optimization based on constrained smoothing spline for autonomous driving vehicles


    Contributors:
    FAN HAOYANG (author) / ZHANG LIANGLIANG (author) / ZHANG YAJIA (author) / ZHU WEICHENG (author) / JIANG YIFEI (author) / LUO QI (author) / HU JIANGTAO (author) / KONG QI (author)

    Publication date :

    2020-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G02C SPECTACLES , Brillen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    Speed optimization based on constrained smoothing spline for autonomous driving vehicles

    FAN HAOYANG / ZHANG LIANGLIANG / ZHANG YAJIA et al. | European Patent Office | 2020

    Free access

    SPEED OPTIMIZATION BASED ON CONSTRAINED SMOOTHING SPLINE FOR AUTONOMOUS DRIVING VEHICLES

    FAN HAOYANG / ZHANG LIANGLIANG / ZHANG YAJIA et al. | European Patent Office | 2019

    Free access

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

    FAN HAOYANG / ZHANG LIANGLIANG / ZHANG YAJIA et al. | European Patent Office | 2020

    Free access

    SMOOTH ROAD REFERENCE LINE FOR AUTONOMOUS DRIVING VEHICLES BASED ON 2D CONSTRAINED SMOOTHING SPLINE

    FAN HAOYANG / ZHANG LIANGLIANG / ZHANG YAJIA et al. | European Patent Office | 2019

    Free access

    QP spline path and spiral path based reference line smoothing method for autonomous driving

    ZHU FAN / MA LIN / XU XIN | European Patent Office | 2022

    Free access