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Two-step reference line smoothing method to mimic human driving behaviors for autonomous driving cars
Two-step reference line smoothing method to mimic human driving behaviors for autonomous driving cars
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机译：两步参考线平滑方法，以模仿自动驾驶汽车的人类驾驶行为
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摘要
A method of determining a smooth reference line for navigating an autonomous vehicle in a manner similar to human driving is disclosed. A high density map is used to generate a centerline for a lane of roadway. Using the centerline, a number of sample points is generated that is related to a curvature of the centerline. Adjustment points are generated at each sample point, a few on either side of the centerline at each sample point. Candidate points at a sample point include the adjustment points and sample point. A least cost path is determined through each of the candidate points at each of the sample points. Path cost is based an angle of approach and departure through a candidate point, and a distance of the candidate point from the centerline.
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