Method for generating a reference line by stitching multiple reference lines together using multiple threads

Abstract

In one embodiment, when an ADV is driving on a trajectory generated based on a reference line, a separate processing thread is executed to precalculate a new reference line as a future reference line for a future planning cycle in parallel. The future reference line is being created while the ADV is moving along a trajectory generated based on the original reference line and before reaching a location corresponding to the starting point of the future reference line. The future reference line is overlapped with an end section of the original reference line, such that the future reference line can be connected to the end section of the original reference line. The future reference line serves an extension of the original reference line before the ADV reaches the end section of the original reference line.