Non-linear reference line optimization method using piecewise quintic polynomial spiral paths for operating autonomous driving vehicles

US10429849B2 · kind B2 · utility

Assignee

• BAIDU USA LLC · US

Inventors

• Yajia Zhang · Sunnyvale, US
• Liyun Li · Qingdao, CN
• Kecheng Xu · Sunnyvale, US
• Dong Li · Tangxia, CN
• Jinghao Miao · Sunnyvale, US
• Jiangtao Hu · Sunnyvale, US
• Jingao Wang · Sunnyvale, US

Key dates

• Filing date: Dec 14, 2017
• Grant date: Oct 1, 2019
• Expiry date: Mar 19, 2038

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2556/50
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A first reference line representing a trajectory from a first location to a second location associated with an autonomous driving vehicle (ADV) is received. The first reference line is segmented into a number of reference line segments. For each of the reference line segments, a quintic polynomial function is defined to represent the reference line segment. An objective function is determined based on the quintic polynomial functions of the reference line segments. An optimization is performed on coefficients of the quintic polynomial functions in view of a set of constraints associated with the reference line segments, such that an output of the objective function reaches minimum while the constraints are satisfied. A second reference line is then generated based on the optimized parameters or coefficients of the quintic polynomial functions of the objective function. The second reference line is then utilized to plan and control the ADV.