Reference trajectory smoothing method and device, terminal equipment and storage medium

Abstract

The invention provides a reference trajectory smoothing method and device, electronic equipment and a storage medium. The method comprises the steps: converting a reference trajectory point set underan absolute coordinate system into two sets of data sets changing along with the length of a reference trajectory; dividing the two groups of data sets in an equal step length manner, and fitting thedivided first segment data according to a least square method to obtain a fitting curve equation; fitting the segmented data after the first segmentation through a least square method with constraintconditions in sequence to obtain corresponding fitting curve equations; and calculating track coordinate points through equidistant sampling based on the fitting curve equation of each segment, and taking all track coordinate points calculated in sequence as a reference track after smoothing processing. By means of the scheme, the problem that when errors exist in an existing reference track, thecalculation process of smoothing processing is complex is solved, the calculation process can be simplified, abnormal track points are eliminated, and accuracy and reliability of the reference track are guaranteed.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to a reference trajectory smoothing method, device, terminal equipment and storage medium. Background technique [0002] During the driving process, the self-driving vehicle will obtain the reference trajectory in the local range from the map data according to the current position of the vehicle, and combine the real-time environmental information for behavior decision-making and motion planning. Generally, automatic driving has high requirements on the accuracy of map data, especially the reference trajectory in the map. However, whether it is a simple map or a high-precision map, the error of the map data exists objectively, and the source of the error is random. The error of the reference trajectory obtained from the map data is also unavoidable, and the reference trajectory obtained is not smooth. Coherence, which will affect the effect of vehicle behavior decision-maki...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiments of the present invention provide a reference trajectory smoothing method, device, terminal equipment, and storage medium to solve the problem that the calculation process for smoothing is complicated when there is an error in the existing reference trajectory

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