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Reference line determination method and device, equipment and medium

A technology for determining methods and reference lines, which is applied in the field of devices, equipment and media, and reference line determination methods, and can solve problems such as inability to accurately obtain reference line information

Pending Publication Date: 2022-05-31
北京主线科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a reference line determination method, device, equipment and medium to solve the existing problem that the reference line information cannot be obtained accurately

Method used

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  • Reference line determination method and device, equipment and medium
  • Reference line determination method and device, equipment and medium
  • Reference line determination method and device, equipment and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] figure 1 A schematic diagram of a reference line determination process provided in the embodiment of the present application, the process includes:

[0043] S101: Obtain waypoint information on the target route and perception information of the target vehicle.

[0044] The method for determining a reference line provided in this application is applied to an electronic device, and the electronic device may be a smart device, such as a physical simulator, a PC, etc., or a server, such as an application server, a cloud server, or the like.

[0045] In a possible application scenario, when a reference line needs to be simulated, a worker can input a simulation request through a smart device. Wherein, the staff can input the simulation request by clicking the icon to start the test on the display of the smart device, or input the simulation request by inputting the voice information to start the test. After the smart device receives the simulation request, the smart device...

Embodiment 2

[0156] The method for determining the reference line provided by the present application will be described below through specific embodiments, figure 2 The specific reference line determination process schematic diagram provided for the embodiment of the present application, taking the hardware-in-the-loop (HIL) test of the regulation and control algorithm of the high-level automatic driving system as an example, the process includes:

[0157] S201: The PC acquires second coordinate information of the target vehicle, lane line information corresponding to lanes associated with the target vehicle, and second heading information of the target vehicle by running the simulation software.

[0158] Wherein, the PC can communicate with the real-time simulator for determining the reference line through the Ethernet interface.

[0159] It should be noted that the real-time simulator can support the perception information sent by the PC after running high-level automatic driving simula...

Embodiment 3

[0178] The present application provides a device for determining a reference line, Figure 4 A schematic structural diagram of a device for determining a reference line provided in an embodiment of the present application, the device includes:

[0179] An acquisition unit 41, configured to acquire waypoint information on the target route and perception information of the target vehicle;

[0180] The processing unit 42 is configured to determine reference line information based on the waypoint information and the perception information.

[0181] In some possible implementation manners, the processing unit 42 is specifically configured to: if the waypoint information includes first coordinate information of the waypoint and first time information when the vehicle passes through the waypoint, And the perception information includes the second coordinate information of the target vehicle, and the lane line information corresponding to the lanes associated with the target vehicle,...

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Abstract

The embodiment of the invention discloses a reference line determination method and device, equipment and a medium, belongs to the technical field of automatic driving, and can be applied to closed parks such as ports and logistics, or urban traffic or high-speed scenes. Since the waypoint information on the target route and the sensing information of the target vehicle are generally obtained by measurement, and no calculation error exists in the information, the accuracy of the reference line information determined subsequently based on the measured waypoint information on the target route and the sensing information of the target vehicle is higher, and the accuracy of the reference line information is improved. According to the method, the influence of the accuracy of a map algorithm on the accuracy of the determined reference line information is avoided, and complicated indexing and path planning operation is not needed, so that the calculation amount required for determining the reference line information is greatly reduced, the hardware computing power requirement of the electronic equipment for determining the reference line is reduced, and the cost of the electronic equipment is reduced.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a method, device, device and medium for determining a reference line. Background technique [0002] For high-level automatic driving systems, such as L3 or L4, the regulation and control algorithm is the "core brain" of the automatic driving system, which is responsible for fusing the reference line information with the vehicle's perception information and making appropriate decision-making planning control instructions. To control the self-driving vehicle to make reasonable movements. In order to achieve precise control of autonomous vehicles, it is necessary to verify and test the regulation and control algorithm of the high-level automatic driving system adopted by the self-driving vehicle in a large number of scenarios, so that the regulation and control algorithm can cope with various complex road environments . [0003] In related technologies, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/06B60W60/00
CPCB60W40/06B60W60/001
Inventor 周光学
Owner 北京主线科技有限公司
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