Polynomial-fit based reference line smoothing method for high speed planning of autonomous driving vehicles
US11327498B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Dec 26, 2018 |
| Grant date | May 10, 2022 |
| Priority date | — |
| Expiry date | Sep 7, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N20/00
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
According to various embodiments, systems and methods for smoothing a reference line for an autonomous driving vehicle are described. In an exemplary 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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.