Autonomous Vehicle Path Planning Using Offset Sample Points
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Solution Overview
Problem
Conventional trajectory planning techniques for autonomous driving vehicles rely heavily on high-quality reference lines, but map data from sensors often lacks smoothness, leading to unstable and oscillating trajectories.
Innovation Solution
Generating sets of sample points offset from a reference line, modeling segments between these points using polynomial functions, and determining a path with minimum total cost based on various factors to stabilize trajectory planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If map data from sensors is directly used for trajectory planning, then the process is simple, but the trajectories become unstable and oscillating due to lack of smoothness
Solution Approach 1:
The patent applies preliminary action by pre-processing sensor map data through smoothing algorithms before trajectory planning. The system performs preliminary filtering and refinement of reference lines, transforming raw sensor data into smooth, stable reference trajectories in advance, thereby eliminating oscillations during the actual planning phase without increasing computational complexity.
2Stability of the object's composition
If offset points are generated to avoid boundary issues, then path determination stability improves, but computation complexity increases
Solution Approach 1:
The patent applies local quality by generating offset points only at specific locations where boundary issues are likely to occur, rather than uniformly across the entire trajectory. The system identifies problematic boundary regions and applies offset point generation locally to these areas, maintaining path determination stability while minimizing unnecessary computational overhead in regions where boundary issues do not exist.
Data Source
AI summary
A first reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV). In response to the first reference line multiple sets of sample points are generated based on the first reference line. Each set of sample points includes a first subset of sample points and a second subset of sample points that are offset from the first subset of sample points. A plurality of segments is generated between the multiple sets of sample points. A path for the ADV is generated based on the plurality of segments. The path includes one sample point from each of the multiple sets of sample points.