Estimation method capable of calculating bending/gradient of road ahead

Abstract

The invention discloses an estimation method capable of calculating the bending/gradient of a road ahead. The estimation method comprises the following steps of: establishing a two-dimensional dynamic azimuth coordinate system at a position of a running automobile as an original point at first, and searching road situations of the original point and the periphery of the original point; then determining an arc length interval according to the length of the automobile and the road congestion degree, selecting a plurality of points in front of and behind the road according to a predetermined time interval between two adjacent points, obtaining coordinate values of the plurality of points on the two-dimensional dynamic azimuth coordinate system according to geographic coefficients of the plurality of points and recording the coordinate values as column vectors; fitting based on the known column vectors and obtaining a three-dimensional polynomial and a first-order derivative function and a second-order derivative function of the three-dimensional polynomial; and finally, calculating a geographic coefficient variable of each point relative to the former point, and estimating the bending/gradient of the road ahead according to the geographic coefficient variables. By the method, the bending/gradient of the road ahead can be estimated in advance so that corresponding technical measures can be taken in advance and crash traffic accidents can be avoided.

Description

technical field [0001] The invention relates to an estimation method for calculating the curvature / slope of the road ahead, and belongs to the technical field of road navigation. Background technique [0002] In recent years, the number of motor vehicles in my country has been in a state of rapid growth, and the current number of vehicles has exceeded 200 million. As more and more cars enter the family, people's demand for road navigation is also increasing. Therefore, many research institutions and enterprises have invested a lot of manpower and material resources in the research of road automatic navigation technology, and have achieved certain research results. [0003] For example, in the Chinese invention patent application with application number 200910146468.0, Inventec Co., Ltd. proposed a steering judgment method for auxiliary navigation. When traveling along a curved path and cannot effectively receive the positioning information of the global satellite positioni...

AI Technical Summary

Problems solved by technology

[0005] However, the existing road navigation technology relies on fixed digital maps, and often can only provide a rough heading or measure and calculate the curvature / slope of the current location of the car, and cannot predict the curvature / slope of the road ahead. estimate

This technical defect is not conducive to the further development of automobile automatic driving technology and active collision avoidance technology

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