Title:
A QP SPLINE PATH AND SPIRAL PATH BASED REFERENCE LINE SMOOTHING METHOD FOR AUTONOMOUS DRIVING
Document Type and Number:
WIPO Patent Application WO/2020/191709
Kind Code:
A1
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 first location 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 Quadratic programming (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 connected to generate a smoothed reference line, which is to be used as a reference line of the route to control the ADV.
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Inventors:
ZHU FAN (US)
MA LIN (CN)
XU XIN (CN)
MA LIN (CN)
XU XIN (CN)
Application Number:
PCT/CN2019/080070
Publication Date:
October 01, 2020
Filing Date:
March 28, 2019
Export Citation:
Assignee:
BAIDU COM TIMES TECH BEIJING CO LTD (CN)
BAIDU USA LLC (US)
BAIDU USA LLC (US)
International Classes:
G05D1/02; B60W30/02
Domestic Patent References:
| WO2003058169A1 | 2003-07-17 |
Foreign References:
| CN108981730A | 2018-12-11 | |||
| CN109521763A | 2019-03-26 | |||
| CN109521762A | 2019-03-26 | |||
| CN103542852A | 2014-01-29 | |||
| CN108279016A | 2018-07-13 | |||
| CN107284442A | 2017-10-24 | |||
| KR101924736B1 | 2019-02-27 |
Attorney, Agent or Firm:
INSIGHT INTELLECTUAL PROPERTY LIMITED (CN)
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