Vehicle track set optimization method and device, electronic equipment and storage medium

A vehicle trajectory and optimization method technology, applied in the field of data processing, can solve the problems of large amount of calculation and long time consumption, and achieve the effect of reducing quantity, saving storage space, and fast trajectory query request

Pending Publication Date: 2022-08-09
FAW JIEFANG AUTOMOTIVE CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the large number of reference driving trajectories, when determining the target driving trajectory, the amount of calculation is large and the time is long

Method used

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  • Vehicle track set optimization method and device, electronic equipment and storage medium
  • Vehicle track set optimization method and device, electronic equipment and storage medium
  • Vehicle track set optimization method and device, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] figure 1 This is a schematic flowchart of a vehicle trajectory set optimization method provided by an embodiment of the present invention. This embodiment can be applied to the situation of optimizing the vehicle trajectory curve. The method can be executed by a vehicle trajectory set optimization device, which can be performed by implemented in software and / or hardware.

[0030] like figure 1 As described above, the vehicle trajectory set optimization method according to the embodiment of the present invention specifically includes the following steps:

[0031] S110. Determine the state space of the target vehicle based on the state space information of the target vehicle, determine a plurality of trajectory discrete points in the state space, and construct a trajectory discrete point set based on the plurality of trajectory discrete points.

[0032] The state space information includes the abscissa and ordinate of the target vehicle in the vehicle coordinate system,...

Embodiment 2

[0058] figure 2 is a schematic flowchart of a method for optimizing a vehicle trajectory set provided by an embodiment of the present invention. The embodiment of the present invention refines step 140 on the basis of the optional solution of the above-mentioned embodiment. The refinement process is described in the present invention. are explained in the examples. The technical terms that are the same or similar to those in the above-mentioned embodiments will not be repeated.

[0059] like figure 2 As mentioned above, the vehicle trajectory set optimization method provided by the embodiment of the present invention specifically includes the following steps:

[0060]S210. Determine the state space of the target vehicle based on the state space information of the target vehicle, and determine a plurality of discrete trajectory points in the state space, and construct a discrete trajectory point set based on the plurality of discrete trajectory points.

[0061] S220. Build...

Embodiment 3

[0078] Figure 4 It is a schematic structural diagram of a vehicle trajectory set optimization device provided by an embodiment of the present invention. The vehicle trajectory set optimization device provided by the embodiment of the present invention can execute the vehicle trajectory set optimization method provided by any embodiment of the present invention, and has corresponding execution methods. functional modules and beneficial effects. The device includes: a trajectory discrete point set determination module 410, a trajectory curve segment determination module 420, a first trajectory curve segment determination module 430, and a trajectory set update module 440 to be optimized; wherein:

[0079] The track discrete point set determination module 410 is configured to determine the state space of the target vehicle based on the state space information of the target vehicle, and to determine multiple track discrete points in the state space, and to construct a track discr...

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Abstract

The embodiment of the invention discloses a vehicle track set optimization method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the state space of a target vehicle based on the state space information of the target vehicle, determining a plurality of track discrete points in the state space, constructing a track discrete point set based on the plurality of track discrete points, and carrying out the optimization of the track discrete point set, constructing a plurality of trajectory curve segments based on each trajectory discrete point in the trajectory discrete point set, and determining a to-be-optimized trajectory set based on the plurality of trajectory curve segments; respectively taking each track curve segment in the to-be-optimized track set as a first track curve segment, determining whether a target track curve segment obtained by splicing at least two second track curve segments is the same as a first starting point and a first ending point of the first track curve segment or not, if so, deleting the first track curve segment, and if not, deleting the first track curve segment; and updating the to-be-optimized track set according to a target driving cost of a target track curve segment obtained by splicing the at least two second track curve segments.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of data processing, and in particular, to a vehicle trajectory set optimization method, device, electronic device, and storage medium. Background technique [0002] Vehicle trajectory planning refers to setting the starting point and ending point of the vehicle as a mass point, and planning the path of the vehicle between the starting point and the ending point. [0003] The computer simulates multiple reference travel trajectories, and when the vehicle is traveling, the target path can be determined from the multiple reference paths. Due to the large number of reference travel trajectories, when determining the target travel trajectory, the amount of calculation is large and the time consuming is long. SUMMARY OF THE INVENTION [0004] Embodiments of the present invention provide a vehicle trajectory set optimization method, device, electronic device, and storage medium, so as to re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F16/29G06F16/215G06F16/9537
CPCG06F16/29G06F16/215G06F16/9537Y02T10/40
Inventor 郝值赵子健刘新宇杨首辰赵彬王阳
Owner FAW JIEFANG AUTOMOTIVE CO
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