A reference trajectory smoothing processing method, device, terminal device and storage medium

A reference trajectory and smoothing technology, applied in special data processing applications, geographic information databases, two-dimensional position/channel control, etc., can solve problems such as complex calculation processes, reduce calculation complexity, and eliminate abnormal reference trajectory points , the effect of simplifying the smoothing process

Active Publication Date: 2022-07-29
WUHAN KOTEI INFORMATICS
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Problems solved by technology

[0004] In view of this, an embodiment of the present invention provides 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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  • A reference trajectory smoothing processing method, device, terminal device and storage medium
  • A reference trajectory smoothing processing method, device, terminal device and storage medium
  • A reference trajectory smoothing processing method, device, terminal device and storage medium

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Embodiment Construction

[0024] In order to make the purpose, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present invention. The examples are only used to explain the present invention, not to limit the scope of the present invention.

[0025] The term "comprising" and other similar meaning expressions in the description or claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusion, such as a process, method or syst...

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Abstract

The present invention provides a reference trajectory smoothing processing method, device, electronic device and storage medium. The method includes: converting a reference trajectory point set in an absolute coordinate system into two sets of data sets that vary with the length of the reference trajectory; converting the two sets of data sets Divide in equal steps, and fit the first segmented data according to the least squares method to obtain the fitting curve equation; The corresponding fitting curve equations are obtained by multiplication and fitting respectively; the trajectory coordinate points are calculated by equidistant sampling based on the fitting curve equation of each segment, and all the trajectory coordinate points calculated in turn are used as the smoothed reference trajectory. The solution solves the complex problem of the calculation process of smoothing when the existing reference trajectory has errors, which can simplify the calculation process, eliminate abnormal trajectory points, and ensure the accuracy and reliability of the reference trajectory.

Description

technical field [0001] The present invention relates to the field of automatic driving, and in particular, to a reference trajectory smoothing processing method, device, terminal device and storage medium. Background technique [0002] In the process of driving, the autonomous 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 obtained reference trajectory is not smooth. Coherence, which will affect the effect of vehicle behavior dec...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F16/29G05D1/02G06F17/12
CPCG06F16/29G05D1/021G06F17/12
Inventor 程德心王猛
Owner WUHAN KOTEI INFORMATICS
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