US 12,304,523 B2
Method and apparatus for trajectory smoothing in autonomous vehicle control
David K. Johnson, Canton, MI (US)
Assigned to DYNAMIC MAP PLATFORM NORTH AMERICA, INC., Livonia, MI (US)
Filed by DYNAMIC MAP PLATFORM NORTH AMERICA, INC., Livonia, MI (US)
Filed on Dec. 1, 2022, as Appl. No. 18/072,837.
Claims priority of provisional application 63/285,839, filed on Dec. 3, 2021.
Prior Publication US 2023/0174099 A1, Jun. 8, 2023
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 2520/06 (2013.01); B60W 2520/10 (2013.01)] 20 Claims
OG exemplary drawing
 
1. In autonomous vehicle control, a trajectory smoothing method comprising: responsive to route selection, identifying a trajectory; computing a curvature and/or variation of curvature of the trajectory; responsive to curvature or variation of curvature being greater than a predetermined value, performing interpolation to represent the trajectory; applying compressive sensing to provide control signals; and outputting the control signals which control the autonomous vehicle.