Speed optimization based on constrained smoothing spline for autonomous driving vehicles
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United States of America
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Mar 31, 2020
Grant Date -
Mar 21, 2019
app pub date -
Sep 18, 2017
filing date -
Sep 18, 2017
priority date (Note) -
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status (Latency Note)
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Abstract
According to some embodiments, a system selects a number of polynomials representing a number of time segments of a time duration to complete the path trajectory. The system selects an objective function based on a number of cost functions to smooth speeds between the time segments. The system defines a set of constraints to the polynomials to at least ensure the polynomials are smoothly joined together. The system performs a quadratic programming (QP) optimization on the objective function in view of the set of constraints, such that a cost associated with the objective function reaches a minimum while the set of constraints are satisfied. The system generates a smooth speed for the time duration based on the optimized objective function to control the ADV autonomously.
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