Driving track alignment method and device, equipment and storage medium

Abstract

The invention discloses a driving track alignment method and device, equipment and a storage medium. The method comprises the following steps: S1, acquiring a first driving track and a second driving track to be aligned; s2, constructing a first coordinate system based on the first driving track, and constructing a second coordinate system based on the second driving track; s3, aligning the first coordinate system and the second coordinate system according to the first alignment parameter, and calculating a second alignment parameter for aligning the first driving track and the second driving track; s4, according to the second alignment parameter, calculating a track overlapping rate of the first driving track and the second driving track; s5, judging whether the trajectory overlapping rate is greater than a preset threshold value, if so, taking the second alignment parameter as a target alignment parameter, and if not, adjusting the first alignment parameter, and returning to the step S3 until the trajectory overlapping rate is greater than the preset threshold value; and step S6, aligning the first driving track and the second driving track according to the target alignment parameter. The driving track can be well aligned.

Description

technical field [0001] The present application relates to the field of intelligent driving, and in particular to a driving track alignment method, device, equipment and computer-readable storage medium. Background technique [0002] With the increase of car ownership, the scale of the parking lot is expanding day by day. At the same time, with the development of intelligent driving, in order to ensure the safe and stable driving of intelligent driving cars in the parking lot, it is necessary to build a parking lot map. [0003] When building a parking lot map, there are multiple driving trajectories for collecting parking lot information, and the alignment of driving trajectories is helpful for building a parking lot map. However, for the alignment method of driving tracks in the prior art, the alignment effect is poor. Contents of the invention [0004] The present application provides a driving track alignment method, device, equipment and computer-readable storage med...

AI Technical Summary

Problems solved by technology

[0004] This application provides a driving trajectory alignment method, device, equipment and computer-readable storage medium, which can improve the alignment method of driving trajectory in the prior art, Technical issues with poor alignment

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