Abstract
Calculating a target trajectory for driving is essential for an autonomous driving system. It can be obtained by numerical optimization which minimizes an objective functional including a deviation penalty from a reference path of a target lane. The reference path is often referred to as a centerline, and there was little discussion of a comprehensive method for its generation which takes into account various road geometries. Therefore we propose a method which calculates desired reference paths from a HD map. The method was applied to actual highway roads and was capable of creating smooth reference paths including complex road environments.
