Vehicle reference driving line construction method, electronic equipment and storage medium

Abstract

The invention provides a vehicle driving reference line construction method, electronic equipment and a storage medium, and the method comprises the steps: collecting a driving track of a specific vehicle in a specific scene, carrying out the preprocessing of the driving track, and obtaining the parameters of the specific vehicle; determining pull-in and pull-out positions of the driving track, and selecting a drive-in lane and a drive-out lane of a vehicle reference driving line according to the specific scene; and constructing a smooth reference driving line based on the parameters of the specific vehicle, the pull-in and pull-out positions, the drive-in lane and the drive-out lane. According to the method, the problem that an existing driving reference line construction method is difficult to adapt to various traffic scenes is solved, the driving reference lines under the corresponding scenes can be quickly generated, the reliability and stability of automatic driving tracking are enhanced on the basis of a high-precision map lane topological network, and the driving safety is guaranteed.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a method for constructing a vehicle reference driving line, electronic equipment and a storage medium. Background technique [0002] In automatic driving, in order to ensure the accuracy of the vehicle's driving route, it is necessary to plan the vehicle's driving route, and it is necessary to achieve lane-level path planning on the high-precision map. In practice, when a vehicle is driving, especially at an intersection, it is necessary to provide a driving reference line for the vehicle to facilitate coping with complex and changeable traffic scenarios. [0003] According to the historical trajectory data of different vehicles in different scenarios, simulate the virtual lane line of the intersection, or construct the virtual lane of the intersection based on the cubic polynomial by selecting the entry and exit lane lines, and obtain the construction of the vehicle driving refe...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a vehicle reference driving line construction method, electronic equipment and storage media to solve the problem that the existing reference driving line construction method is difficult to adapt to various driving scenarios

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