Enumeration based failure prevention QP smoother for autonomous vehicles

A non-transitory machine-readable medium having instructions stored therein for operating an autonomous driving vehicle, the instructions, when executed by a processor, causing the processor to perform operations, the operations comprising:

• receiving an initial reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV), wherein the initial reference line includes a plurality of line segments;
• smoothing the line segments by applying a quadratic programming (QP) spline smoothing algorithm to the line segments;
• in response to determining that the QP spline smoothing algorithm for the line segments fails to converge, adjusting a location of an end point of a line segment;
• smoothing the line segments by applying a QP spline smoothing algorithm to the adjusted line segment;
• generating a smoothed reference line based on the smoothed line segments
• controlling the ADV using the smoothed reference line as a reference line of the route.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
• receiving an initial reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV), wherein the initial reference line includes a plurality of line segments;
• smoothing the line segments by applying a quadratic programming (QP) spline smoothing algorithm to the line segments;
• in response to determining that the QP spline smoothing algorithm for the line segments fails to converge, adjusting a location of an end point of a line segment;
• smoothing the line segments by applying a QP spline smoothing algorithm to the adjusted line segment;
• generating a smoothed reference line based on the smoothed line segments
• controlling the ADV using the smoothed reference line as a reference line of the route.