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Smooth road reference for autonomous driving vehicles based on 2D constrained smoothing spline
Smooth road reference for autonomous driving vehicles based on 2D constrained smoothing spline
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机译:基于2D约束平滑样条线的自动驾驶汽车的平滑道路参考
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摘要
According to some embodiments, a system determines a number of boundary areas having predetermined dimensions centered around each of a number of control points of a first reference line. The system selects a number of two-dimensional polynomials each representing a segment of an optimal reference line between adjacent control points. The system defines a set of constraints to the two-dimensional polynomials to at least ensure the two-dimensional polynomials passes through each of the boundary areas. The system performs a quadratic programming (QP) optimization on a target function such that a total cost of the target function reaches minimum while the set of constraints are satisfied. The system generates a second reference line representing the optimal reference line based on the QP optimization to control the ADV autonomously according to the second reference line.
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