Unlock instant, AI-driven research and patent intelligence for your innovation.

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

An automatic driving, reference line technology, applied in the input parameters of external conditions, vehicle position/route/height control, motor vehicles and other directions, can solve the problems of oscillation, unstable planning cycle trajectory, lack of smoothness, etc.

Pending Publication Date: 2020-12-01
BAIDU COM TIMES TECH (BEIJING) CO LTD +1
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Reference lines generated directly from map data points are raw reference lines which may lack the desired smoothness and thus may lead to trajectory instability and oscillations between planning cycles

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A qp spline path and spiral path based reference line smoothing method for autonomous driving
  • A qp spline path and spiral path based reference line smoothing method for autonomous driving
  • A qp spline path and spiral path based reference line smoothing method for autonomous driving

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0017] Various embodiments and aspects of the disclosure will be described with reference to details discussed below and illustrated in the accompanying drawings. The following description and drawings are illustrative of the present disclosure and should not be construed as limiting the present disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosure.

[0018] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in this specification are not necessarily all referring to the s...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

Provided is a method for operating an autonomous driving vehicle (ADV). The method includes the operation of segmenting a raw reference line into a plurality of reference line segments, including a first reference line segment, a second reference line segment, and a third reference line segment in a sequential order, in response to receiving the raw reference line representing a route from a firstlocation to a second location associated with the ADV. The method further includes the operations of smoothing the first reference line segment and the third reference line segment using a Quadraticprogramming (QP) spline smoother; and smoothing the second reference line segment using a spiral smoother. Smoothed reference line segments from the plurality of reference line segments are connectedto generate a smoothed reference line, which is to be used as a reference line of the route to control the ADV.

Description

technical field [0001] Embodiments of the present disclosure generally relate to operating an autonomous vehicle. More specifically, embodiments of the present disclosure relate to smoothing reference lines for operating autonomous vehicles. Background technique [0002] Vehicles operating in an autonomous mode (eg, driverless) can relieve the occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some situations without any passengers. Motion planning and control are key operations in autonomous driving. Especially in autonomous driving systems, trajectory planning is a key component. Traditional trajectory planning techniques rely heavily on high-quality reference lines (i.e., guiding paths for autonomous vehicles, e.g., centerlines of roads) to generate stable trajectories. [0003] Ref...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02B60W30/02
CPCG05D1/0212B60W60/0013B60W2556/50B60W60/001B60W40/06B60W2520/10G01C21/3407
Inventor 朱帆马霖许昕
Owner BAIDU COM TIMES TECH (BEIJING) CO LTD