{
  "$type": "site.standard.document",
  "description": "According to some embodiments, a system receives a first set of reference points based on a map and a route information, the first plurality of reference points representing a reference line in which the ADV is to follow. The system selects a second set of reference points along the reference line…",
  "path": "/patents/1240330",
  "publishedAt": "2019-08-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0212",
    "Baidu USA LLC"
  ],
  "textContent": "According to some embodiments, a system receives a first set of reference points based on a map and a route information, the first plurality of reference points representing a reference line in which the ADV is to follow. The system selects a second set of reference points along the reference line, including iteratively performing, selecting a current reference point from the first set of reference points, determining a sampling distance along the first set of reference points based on the currently selected reference point using a nonlinear algorithm, and selecting a next reference point based on the determined sampling distance such that a density of the second set of reference points closer to the ADV is higher than a density of the selected reference points farther away from the ADV. The system plans a trajectory for the ADV using the second set of reference points to control the ADV.",
  "title": "DYNAMICALLY ADJUSTABLE REFERENCE LINE SAMPLING POINT DENSITY FOR AUTONOMOUS VEHICLES"
}