Title:
POLYNOMIAL-FIT BASED REFERENCE LINE SMOOTHING METHOD FOR HIGH SPEED PLANNING OF AUTONOMOUS DRIVING VEHICLES
Document Type and Number:
WIPO Patent Application WO/2020/132952
Kind Code:
A1
Abstract:
Systems and methods for smoothing a reference line for an autonomous driving vehicle are described. In a method, a raw reference line can be generated from a high definition map and routing results, and can be truncated based on a predetermined formula. The truncated raw reference line can include a number of points, each point representing a position of an autonomous driving vehicle in a global coordinate system. The number of points can be converted to points in a local coordinate system, where a polynomial curve that best fits the points are generated. The polynomial curve can subsequently be used to generate a new vertical coordinate for a horizontal coordinate of each of the number of points. The new vertical coordinates and their corresponding horizontal coordinates can be converted back to the global coordinate system. The polynomial curve can be used to derive a heading, a kappa, and a dkappa for each point in the global coordinate system.
Inventors:
ZHU FAN (US)
MA LIN (CN)
XU XIN (CN)
MA LIN (CN)
XU XIN (CN)
Application Number:
PCT/CN2018/123936
Publication Date:
July 02, 2020
Filing Date:
December 26, 2018
Export Citation:
Assignee:
BAIDU COM TIMES TECH BEIJING CO LTD (CN)
BAIDU USA LLC (US)
BAIDU USA LLC (US)
International Classes:
G01C21/34
Foreign References:
| CN108981730A | 2018-12-11 | |||
| US20080204557A1 | 2008-08-28 | |||
| US20170285741A1 | 2017-10-05 |
Other References:
See also references of EP 3692339A4
Attorney, Agent or Firm:
INSIGHT INTELLECTUAL PROPERTY LIMITED (CN)
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