Vehicle transition track generation method and device

A trajectory and vehicle technology, applied in the field of vehicles, can solve problems such as vehicle lateral movement and inefficient calculation of transition trajectories

Active Publication Date: 2020-12-29
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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Problems solved by technology

[0003] An embodiment of the present invention provides a method for generating a vehicle transition trajectory, so as to solve the problem in the prior art...

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  • Vehicle transition track generation method and device
  • Vehicle transition track generation method and device
  • Vehicle transition track generation method and device

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Embodiment Construction

[0077] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0078] When the vehicle is running in an automatic driving model, the vehicle needs to obtain the transition trajectory of the vehicle through a certain algorithm, so as to drive according to the obtained transition trajectory. Among them, the transition trajectory of unmanned driving is mainly used for the transition connection between two different paths. On the one hand, the calculated transition trajectory is required to be a relatively good transition path in the overall situation; It is used in the low-level unmanned driving controller, and makes the vehicle conform to the non-integral kinematics constraints of the vehicle when driving according to the transition trajectory.

[0079] Therefore, one of the core inventive poin...

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Abstract

The embodiment of the invention provides a vehicle transition track generation method and device. The method comprises the steps that the position information of a vehicle is obtained, and a startingreference line and an ending reference line aiming at the vehicle are obtained; a starting point matched with the position information is determined from the starting reference line; the starting information aiming at the starting point and the ending information aiming at the ending reference line are obtained; and then according to the starting information and the ending information, a transition track from the starting point to the ending reference line is generated, and the vehicle automatically travels along transition track. By presetting the starting information aiming at the starting point and the ending information aiming at the ending point reference line, the vehicle can obtain the transition track according to the starting information and the ending information after obtainingthe current position and the ending point reference line, and the vehicle can travel along the transition track; and automatic driving modes such as lane changing, lane changing car following and lanekeeping can be achieved, the calculation efficiency is improved, the reasonability of a vehicle driving path can be guaranteed, and lateral movement of the vehicle is avoided.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a method for generating a vehicle transition trajectory and a device for generating a vehicle transition trajectory. Background technique [0002] With the development of autonomous driving technology, the automatic driving functions of vehicles are becoming more and more mature. Vehicles operating in autonomous driving mode (eg, driverless) can free occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. Among them, the path transition planning of automatic driving mainly calculates the transition trajectory of the vehicle through algorithm calculation. However, the transition trajectory obtained by the current algorithm, on the one hand, cannot guarantee that t...

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Application Information

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IPC IPC(8): G01C21/30
CPCG01C21/30
Inventor 张超昱赵季楠赵永正李弼超陈集辉
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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