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.


    Access

    Download


    Export, share and cite



    Title :

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


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

    Publication date :

    2020-04-23


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA



    Two-step reference line smoothing method to mimic human driving behaviors for autonomous driving cars

    ZHANG LIANGLIANG / LI DONG / HU JIANGTAO et al. | European Patent Office | 2021

    Free access

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

    ZHANG LIANGLIANG / LI DONG / HU JIANGTAO et al. | European Patent Office | 2022

    Free access

    TWO-STEP REFERENCE LINE SMOOTHING METHOD FOR MIMICKING HUMAN DRIVING BEHAVIOR FOR AUTONOMOUS DRIVING CARS

    ZHANG LIANGLIANG / LI DONG / HU JIANGTAO et al. | European Patent Office | 2020

    Free access

    Should Self-Driving Cars Mimic Human Driving Behaviors?

    Craig, Jamie / Nojoumian, Mehrdad | British Library Conference Proceedings | 2021


    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