SPLINE CURVE AND SPIRAL CURVE BASED REFERENCE LINE SMOOTHING METHOD

摘要

In one embodiment, an exemplary method includes the operations of receiving a raw reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV); and smoothing the raw reference line using a Quadratic programming (QP) spline smoother to generate a smoothed reference line. The method further includes the operations of identifying one or more segments on the smoothed reference line, each of the identified reference line segments including a curvature that exceeds a predetermined size; and smoothing each of the one or more identified reference line segments using a spiral smoother, including optimizing each identified curvature in view of a set of constraints, such that an output of the objective function reaches a minimum value while the set of constraints are satisfied; and controlling the ADV using the smoothed reference line.