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A route processing method, system, vehicle and computer-readable storage medium

A processing method and processing system technology, applied in the field of automatic driving, can solve the problems of vehicle lateral fluctuation, vehicle fluctuation, and unstable driving of the vehicle, and achieve the effects of reducing lateral fluctuation, improving stability, and improving comfort.

Active Publication Date: 2022-05-13
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in practice, it is found that if the reference path is directly used for navigation, the car may produce lateral fluctuations during automatic driving
For example, when the user controls the car to drive on a straight road through manual driving, the sensor can collect the path of the car. However, due to the user's driving habits, the steering wheel may be turned, and the path collected by the sensor also has certain noise. If this path is used directly in the process, the car will produce lateral fluctuations, which will cause the car to drive unsteadily

Method used

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  • A route processing method, system, vehicle and computer-readable storage medium
  • A route processing method, system, vehicle and computer-readable storage medium
  • A route processing method, system, vehicle and computer-readable storage medium

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0062] see figure 1 , figure 1 It is a schematic flowchart of a path processing method disclosed in an embodiment of the present invention. like figure 1 As shown, the method may include the following steps.

[0063] 101. The vehicle determines a preset number of original path points from the original path.

[0064] In this embodiment of the present invention, optionally, the original path point may be planned from the vehicle's path planning module according to the current position and destination position, combined with information such as a navigation map or a SLAM map, and planned by a planning algorithm such as A* or grid method. Determined in waypoints on the overall path.

[0065] Or, optionally, the original waypoint can also be determined from the waypoints on the historical travel route that the user has passed through manual driving in the past stored in the historical route database.

[0066] In this embodiment of the present invention, it can be understood th...

Embodiment 2

[0111] see figure 2 , figure 2 It is a schematic flowchart of another path processing method disclosed in an embodiment of the present invention. like figure 2 As shown, the method may include the following steps.

[0112] 201. The vehicle acquires the current location and destination location of the vehicle, and uses the current location and destination location of the vehicle as key information.

[0113] In the embodiment of the present invention, the vehicle may have a built-in positioning module, such as a global positioning system (Global Positioning System, GPS) module and a Beidou satellite positioning system. The GPS module has high integration sensitivity and low power consumption. It can track up to 20 satellites simultaneously, and quickly locate and update 1Hz navigation. Therefore, in the embodiment of the present invention, the vehicle can obtain the current position of the vehicle through the built-in GPS module.

[0114] In the embodiment of the present ...

Embodiment 3

[0153] see image 3 , image 3 It is a schematic structural diagram of a path processing system disclosed in an embodiment of the present invention. The path processing system is applied to a vehicle so that the vehicle can execute Figure 1 to Figure 2 Any path processing method. like image 3 As shown, the path processing system may include:

[0154] The obtaining unit 301 is configured to determine a preset number of original path points from the original path.

[0155] In this embodiment of the present invention, optionally, the original path point may be planned from the vehicle's path planning module according to the current position and destination position, combined with information such as a navigation map or a SLAM map, and planned by a planning algorithm such as A* or grid method. Determined in waypoints on the overall path.

[0156] Or, optionally, the original waypoint can also be determined from the waypoints on the historical travel route that the user has...

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Abstract

The embodiment of the present invention relates to the field of automatic driving technology, and discloses a path processing method and system, and a vehicle. The method includes: obtaining a preset number of original path points from the original path; determining the curvature of the original path points on the original path; Select the first path point corresponding to the curvature smaller than the preset threshold from the original path points; fit the first path point to obtain the target curve; map the first path point to the target curve to obtain the target path point; use the first path point A preset line connects the target waypoint and the second waypoint to obtain the automatic driving path, wherein the second waypoint is other waypoints in the original waypoints except the first waypoint. The implementation of the embodiments of the present invention can reduce the lateral fluctuation during the running of the vehicle, thereby improving the stability of the running of the vehicle.

Description

technical field [0001] The invention relates to the technical field of automatic driving, and in particular, to a path processing method and system, and a vehicle. Background technique [0002] With the rapid development of automobile technology, the assisted driving technology of automobiles has become more and more perfect, especially the automatic driving technology, which has improved people's travel. In the process of automatic driving, the car can take the path stored in the database that the user controlled the car through manual driving in the past as a reference path, and navigate according to the reference path. However, it has been found in practice that if the reference path is directly used for navigation, the car may have lateral fluctuations during the process of autonomous driving. For example, when the user controls the car to drive on a straight road through manual driving, the sensor can collect the path the car passes through. However, due to the user's ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G06F17/11G06F16/29G05D1/02B60W40/06B60W30/02B60W60/00
CPCG06Q10/047G06F16/29G06F17/11G05D1/0221B60W30/02B60W40/06
Inventor 李弼超孙崇尚陈集辉张超昱李想
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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