A MAP-LESS AND CAMERA-BASED LANE MARKINGS SAMPLING METHOD FOR LEVEL-3 AUTONOMOUS DRIVING VEHICLES

摘要

A computer-implemented method for discretizing lane markings and for generating a lane reference line is disclosed. A polynomial defined over an (x, y) coordinate system is received, the polynomial being representative of at least a portion of a lane boundary line. A length of the polynomial is determined. The polynomial is discretized, comprising determining a plurality of discretization points on the polynomial to represent the polynomial, wherein a first discretization piint is a first end of the polynomial, wherein subsequent discretization points are determined successively until the polynomial is completely discretized, and wherein each discretization point other than the first discretization point is determined based at least in part on a slope of the polynomial at a previous discretization point. Thereafter, a lane reference line comprising a plurality of points is generated based on the discretized polynomial. A non-transitory machine-readable medium having instructions stored therein and a data processing system for discretizing lane markings and for generating a lane reference line are also disclosed.