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.
Path optimization based on constrained smoothing spline for autonomous driving vehicles
2020-02-25
Patent
Electronic Resource
English
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
European Patent Office | 2020
|SPEED OPTIMIZATION BASED ON CONSTRAINED SMOOTHING SPLINE FOR AUTONOMOUS DRIVING VEHICLES
European Patent Office | 2019
|Smooth road reference for autonomous driving vehicles based on 2D constrained smoothing spline
European Patent Office | 2020
|SMOOTH ROAD REFERENCE LINE FOR AUTONOMOUS DRIVING VEHICLES BASED ON 2D CONSTRAINED SMOOTHING SPLINE
European Patent Office | 2019
|QP spline path and spiral path based reference line smoothing method for autonomous driving
European Patent Office | 2022
|