Error compensation method, device, computer equipment and storage medium

An error compensation and computer program technology, applied in the field of unmanned driving, can solve the problems of time-consuming conversion and conversion errors, etc.

Active Publication Date: 2021-08-20
新石器中研(上海)科技有限公司
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Problems solved by technology

[0005] In view of this, the embodiments of the present disclosure provide an error compensation method, device, computer equipment, and computer-readable storage medium to solve the problem of calculating the target point in the prior art based on the coordinates of the nearest reference point in the Frenet coordinate system. There is a conversion error in the coordinates in the Frenet coordinate system, and the conversion takes a long time

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  • Error compensation method, device, computer equipment and storage medium
  • Error compensation method, device, computer equipment and storage medium
  • Error compensation method, device, computer equipment and storage medium

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Embodiment Construction

[0019] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and techniques are presented for a thorough understanding of the embodiments of the present disclosure. It will be apparent, however, to one skilled in the art that the present disclosure may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.

[0020] figure 1 is a schematic diagram of calculating the coordinates of the target point based on the coordinates of the nearest reference point in the related art.

[0021] Such as figure 1 As shown, point A is the target point, its coordinates are (s, l), and point B is the nearest reference point found through traversal; during the conversion process from the Cartesian coordinate s...

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Abstract

The present disclosure relates to the technical field of unmanned driving, and provides an error compensation method, device, computer equipment and storage medium. The method is applied to an unmanned driving device, that is, an automatic driving device or an unmanned vehicle, including: establishing a first coordinate system based on the reference point closest to the target point; obtaining the first coordinate and the first coordinate of the target point in the first coordinate system The second coordinate of the reference point in the second coordinate system; based on the first coordinate and the second coordinate, calculate the third coordinate of the target point in the second coordinate system to calculate the conversion error from the first coordinate system to the second coordinate system Make compensation. The present disclosure can eliminate conversion errors from the first coordinate system to the second coordinate system, and reduce conversion time consumption.

Description

technical field [0001] The present disclosure relates to the technical field of unmanned driving, and in particular to an error compensation method, device, computer equipment, and computer-readable storage medium. Background technique [0002] Unmanned vehicles, also known as self-driving vehicles, unmanned vehicles or wheeled mobile robots, are integrated and intelligent new-age technology products that integrate environmental perception, path planning, state recognition and vehicle control. The vehicle is equipped with intelligent software and a variety of sensing devices to achieve the purpose of unmanned driving. [0003] In unmanned driving technology, trajectory planning, as a high-dimensional optimization problem with multiple nonlinear constraints, consumes a lot of computing resources, and due to the complexity and real-time nature of the scene, it is not always quick and easy to obtain The optimal trajectory, therefore, has high requirements on the robustness and...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02B60W60/00
CPCG05D1/0212B60W60/001G01C21/20
Inventor 刘炳
Owner 新石器中研(上海)科技有限公司
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