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A driving reference line processing method, device, vehicle and server

A processing method and reference line technology, applied in two-dimensional position/channel control and other directions, can solve the problems of insufficient obstacle avoidance ability of driving reference line, safety problems of driving reference line, etc., achieve smooth effect and ensure comfort

Active Publication Date: 2021-08-10
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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Problems solved by technology

[0003] Embodiments of the present invention provide a driving reference line processing method, device, vehicle, and server to solve the safety problem of the driving reference line caused by insufficient obstacle avoidance ability of the driving reference line

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  • A driving reference line processing method, device, vehicle and server
  • A driving reference line processing method, device, vehicle and server
  • A driving reference line processing method, device, vehicle and server

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Embodiment Construction

[0046] In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0047] An embodiment of the present invention provides a driving reference line processing method, in an implementation manner, such as figure 1 As shown, a path planning method is provided, the method comprising:

[0048] Step 101: Select at least one first-type sampling point for each of the at least two sub-driving reference lines to be processed; wherein, the first-type sampling points are The distance between the end points of the line is less than the sampling point of the first preset distance;

[0049]Step 102: Adjust the position of at least one sampling point of the first type in each sub-drivin...

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Abstract

Embodiments of the present invention propose a driving reference line processing method, device, and vehicle, the method including: selecting at least one first-type sampling point for each sub-driving reference line to be processed among at least two sub-driving reference lines to be processed ; Wherein, the first type of sampling point is a sampling point whose distance from the endpoint of the sub-driving reference line to be processed is less than the first preset distance; for at least one of the sub-driving reference lines to be processed The position of a type of sampling point is adjusted to adjust the endpoint parameters of the sub-driving reference line to be processed; when the position adjustment of at least one type of sampling point is completed, based on the adjusted at least one type of sampling point Processing each sub-driving reference line to be processed to obtain a sub-driving reference line; splicing the obtained at least two sub-driving reference lines to obtain a driving reference line. Solve the problem that the direction of the end point of the driving reference line is not easy to determine, resulting in insufficient smoothness of the driving reference line.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving control, in particular to a driving reference line processing method, device, vehicle and server. Background technique [0002] The driving reference line is the basis for the unmanned vehicle to complete trajectory planning. The reference line smoothing algorithm determines the smoothness of the reference line, determines the quality of the planned trajectory, and then determines the driving experience of the unmanned vehicle. However, the traditional smoothing algorithm based on sliding window average or Kalman filter cannot determine the endpoint method of the reference line, and it is difficult to control the smoothing effect. Therefore, the comfort of driving based on the driving reference line cannot be guaranteed. Contents of the invention [0003] Embodiments of the present invention provide a driving reference line processing method, device, vehicle, and server to solve...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/00G05D1/02
Inventor 付骁鑫潘余昌朱振广陈至元朱帆
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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