Vehicle track point determination method and device, vehicle and storage medium

A technology of vehicle trajectory and determination method, which is applied in vehicle position/route/altitude control, measurement device, motor vehicle and other directions, and can solve the problems of many trajectory offset preset trajectories, prone to vehicle accidents, and large errors.

Inactive Publication Date: 2020-10-23
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, when the above method is used to fit the trajectory points, the error between the fitted point at the curve and the preset trajectory point is relatively large, which leads to the fact that the vehicle trajectory deviates from the preset trajectory too much in the actual automatic driving condition. Many, easy to cause vehicle accidents

Method used

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  • Vehicle track point determination method and device, vehicle and storage medium
  • Vehicle track point determination method and device, vehicle and storage medium
  • Vehicle track point determination method and device, vehicle and storage medium

Examples

Experimental program
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Embodiment 1

[0026] Figure 1A It is a flow chart of a method for determining a track point of a vehicle provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of determining the track point of any vehicle. A method for determining a vehicle track point provided in this embodiment can be performed by a device for determining a vehicle track point provided in an embodiment of the present invention. The device can be implemented by means of software and / or hardware, and integrated in a vehicle that executes the method. In , the vehicle may be an autonomous vehicle.

[0027] refer to Figure 1A , the method includes but is not limited to the following steps:

[0028] S110. Obtain point data information of each candidate track point from a predetermined set of candidate track points.

[0029] Wherein, the set of candidate trajectory points can be the trajectory points recorded during the driving process of the vehicle that needs to be fitted. In this embo...

Embodiment 2

[0070] figure 2 It is a schematic structural diagram of a device for determining a vehicle track point provided in Embodiment 2 of the present invention. Such as figure 2 As shown, the device may include:

[0071] An information determination module 210, configured to acquire point data information of each candidate track point from a predetermined set of candidate track points;

[0072] A trajectory point fitting module 220, configured to fit each of the candidate trajectory points through non-uniform B-splines according to the point data information of each of the candidate trajectory points;

[0073] The trajectory point determining module 230 is configured to determine the target coordinate point formed after fitting as the vehicle's to-be-traveled trajectory point.

[0074] In the technical solution provided by this embodiment, first, the point data information of each candidate trajectory point is obtained from a predetermined set of candidate trajectory points, and...

Embodiment 3

[0091] image 3 A structural schematic diagram of a vehicle provided in Embodiment 3 of the present invention, as image 3 As shown, the vehicle includes a controller 310, a storage device 320 and a communication device 330; the number of controllers 310 in the vehicle may be one or more, image 3 Take a controller 310 as an example; the controller 310, the storage device 320 and the communication device 330 in the vehicle can be connected by bus or other methods, image 3 Take connection via bus as an example.

[0092] The storage device 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as modules corresponding to the vehicle track point determination method in the embodiment of the present invention (for example, for the vehicle track point determination device The information determination module 210, the trajectory point fitting module 220 and the trajectory point determination module 230) i...

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Abstract

The embodiment of the invention discloses a vehicle track point determination method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring point data information of each candidate track point from a preset candidate track point set; fitting each candidate track point through a non-uniform B spline according to the point data information of each candidate track point; and determining a target coordinate point formed after fitting as a to-be-traveled track point of the vehicle. According to the technical scheme provided by the embodiment of the invention, the to-be-traveled track point of the vehicle is determined through the non-uniform B spline method, the fitting error at the curve is relatively small, the safety and reliability are higher, and anaccident is prevented from happening when the vehicle track deviates too much from the pre-track.

Description

technical field [0001] Embodiments of the present invention relate to automatic driving control technology, and in particular to a method, device, vehicle, and storage medium for determining vehicle track points. Background technique [0002] With the development of modern science and technology, autonomous driving has gradually become the direction of future vehicle development. Autonomous driving refers to a technology that realizes unmanned driving through technologies such as computers, sensors, the Internet, the Internet of Things, and mobile communications. Trajectory tracking is particularly important in autonomous driving technology, and trajectory tracking is mainly through fitting trajectory points. And then follow up the process. [0003] In the prior art, the automatic driving vehicle uses the method of moving average filtering to fit the trajectory points. This method first selects the adjacent and continuous part of the existing points, and then calculates the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/34
CPCG05D1/0214G05D1/0278G05D1/0276G01C21/3446G05D2201/02
Inventor 周添黄海洋王宇张建李春善王珊
Owner CHINA FIRST AUTOMOBILE
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