Method, device, electronic device and storage medium for determining racetrack driving path

Abstract

The disclosed methods, devices, electronic devices, and storage media for determining a racetrack driving path utilize real-time track description information collected by driving a race car on the track, rather than directly reading data from a data repository. This avoids errors between the data in the data repository and the actual data due to external factors, allowing accurate determination of relevant track parameters. Furthermore, by determining a set of candidate paths corresponding to a set of candidate point groups based on the description information, parameter information, and a set of calibration points, and then determining a racetrack driving path from the set of candidate paths, constructive guidance can be provided to the currently training athlete, assisting the driver in analyzing and improving driving performance, thereby enhancing training effectiveness.

Description

Technical Field

[0001] The present invention relates to the field of racing car driving technology, and in particular to a method, device, electronic equipment and storage medium for determining a race track driving path. Background Art

[0002] Intelligent path planning, a key technology in intelligent driving, can be divided into global and local path planning. Path planning for a racetrack differs from path planning on everyday roads. Racetracks feature wide roads, simple road conditions, and numerous possible routes. Therefore, path planning on a racetrack isn't simply about finding a viable route; it's about finding the fastest one. Existing vehicle driver assistance systems primarily provide prompts regarding speed, mileage, acceleration, and other information. They lack driving prompts and guidance that integrate current vehicle performance, the road being driven, and the driver's operating characteristics. Summary of the Invention

[0003] The embodiments of the present application provide a method, device, electronic device, and storage medium for determining a track driving path, which can accurately grasp the relevant parameters of the track, assist the driver in analyzing and improving driving operations, and enhance training effects.

[0004] An embodiment of the present application provides a method for determining a racetrack driving path, comprising:

[0005] Obtain track description information, vehicle parameter information, and a calibration path; the calibration path is the vehicle's historical driving path on the track, and the calibration path includes a set of calibration points;

[0006] Determine a candidate point group set based on the description information, parameter information and calibration point set;

[0007] Determine a candidate path set according to each candidate point group in the candidate point group set;

[0008] A track driving path is determined from a set of candidate paths.

[0009] Furthermore, according to the description information, parameter information and the calibration point set, a candidate point group set is determined, including:

[0010] Obtain reference driving data corresponding to each calibration point in the calibration point set;

[0011] Determine the candidate point group set based on the description information, parameter information and reference driving data.

[0012] Furthermore, the reference driving data includes reference position data, reference speed data and reference heading angle corresponding to each calibration point;

[0013] Based on the description information, parameter information and reference driving data, a candidate point group set is determined, including:

[0014] Determine, based on the description information, the parameter information, the reference position data, the reference speed data, and the reference heading angle, a candidate position data set corresponding to each calibration point, a candidate speed data set corresponding to each candidate position data in the candidate position data set, and a candidate heading angle set corresponding to each candidate position data;

[0015] A candidate point group set is determined according to each candidate position data, a candidate speed data set corresponding to each candidate position data, and a candidate heading angle set corresponding to each candidate position data.

[0016] Furthermore, determining a track driving path from the candidate path set includes:

[0017] Obtain the reference time information corresponding to the calibration path;

[0018] Obtain the candidate time information corresponding to each candidate path in the candidate path set;

[0019] A track driving path is determined from the candidate paths according to the reference time information and the candidate time information corresponding to each candidate path.

[0020] Furthermore, the description information includes the length of the track, the width of the track, the road adhesion coefficient of the track, the curvature of the track and the speed limit data of the track;

[0021] The vehicle's parameter information includes the vehicle's wheel friction coefficient and the vehicle's power system.

[0022] Accordingly, an embodiment of the present application further provides a device for determining a racetrack driving path, comprising:

[0023] An acquisition module is used to obtain track description information, vehicle parameter information, and a calibration path; the calibration path is the vehicle's historical driving path on the track, and the calibration path includes a set of calibration points;

[0024] A first determination module is used to determine a candidate point group set based on the description information, parameter information and the calibration point set;

[0025] A second determining module is configured to determine a candidate path set based on each candidate point group in the candidate point group set;

[0026] The third determining module is used to determine a track driving path from the candidate path set.

[0027] Furthermore, the acquisition module includes:

[0028] A first acquiring unit, configured to acquire reference driving data corresponding to each calibration point in the calibration point set;

[0029] The first determination unit is used to determine the candidate point group set based on the description information, parameter information and reference driving data

[0030] Furthermore, the reference driving data includes reference position data, reference speed data and reference heading angle corresponding to each calibration point;

[0031] The first determination module includes:

[0032] a second determining unit, configured to determine, based on the description information, the parameter information, the reference position data, the reference speed data, and the reference heading angle, a candidate position data set corresponding to each calibration point, a candidate speed data set corresponding to each candidate position data in the candidate position data set, and a candidate heading angle set corresponding to each candidate position data;

[0033] The third determining unit is configured to determine a candidate point group set according to each candidate position data, a candidate speed data set corresponding to each candidate position data, and a candidate heading angle set corresponding to each candidate position data.

[0034] Furthermore, the second determining module includes:

[0035] A second acquiring unit, configured to acquire reference time information corresponding to the calibration path;

[0036] A third obtaining unit is used to obtain candidate time information corresponding to each candidate path in the candidate path set;

[0037] The fourth determining unit is configured to determine a track driving path from the candidate paths based on the reference time information and the candidate time information corresponding to each candidate path.

[0038] Furthermore, the description information includes the length of the track, the width of the track, the road adhesion coefficient of the track, the curvature of the track and the speed limit data of the track;

[0039] The vehicle's parameter information includes the vehicle's wheel friction coefficient and the vehicle's power system.

[0040] Accordingly, an embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above-mentioned method for determining the track driving path.

[0041] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned method for determining the track driving path.

[0042] The embodiments of the present application have the following beneficial effects:

[0043] The present invention discloses a method, device, electronic device, and storage medium for determining a racetrack driving path. The method includes obtaining description information of the racetrack, parameter information of the vehicle, and a calibration path, wherein the calibration path is the historical driving path of the vehicle on the racetrack, and the calibration path includes a set of calibration points. Then, based on the description information, parameter information, and calibration point set, a set of candidate point groups is determined, and based on each candidate point group in the set of candidate point groups, a set of candidate paths is determined, and then the racetrack driving path is determined from the set of candidate paths. Based on the embodiments of the present invention, the description information of the racetrack is collected in real time by driving a racing car on the racetrack, rather than directly reading data from a data repository. This can avoid the situation where the data in the data repository and the actual data caused by the external environment have errors, and the relevant parameters of the racetrack can be accurately determined. Furthermore, by determining the set of candidate paths corresponding to the set of candidate point groups based on the description information, parameter information, and calibration point set, and determining the racetrack driving path from the set of candidate paths, constructive guidance can be output to the current training contestant, which can assist the driver in analyzing and improving driving operations and improving training results. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0046] Figure 2 This is a flow chart of a method for determining a racetrack driving path provided in an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of a calibration path provided in an embodiment of the present application;

[0048] Figure 4 1 is a flow chart of a method for determining a candidate point group set provided by an embodiment of the present application;

[0049] Figure 5 2 is a schematic structural diagram of a device for determining a racetrack driving path provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] To make the objectives, technical solutions, and advantages of this application more clear, the following embodiments of this application will be further described in detail with reference to the accompanying drawings. Obviously, the described embodiment is only one embodiment of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0051] The "embodiment" referred to herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of such features. Moreover, the terms "first," "second," "third," and "fourth" are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including," "having," and "being," and any variations thereof, are intended to cover non-exclusive inclusions.

[0052] See also Figure 1 , which is a schematic diagram of an application environment provided by an embodiment of the present application, including an on-board server 101 and an on-board sensing device 103, wherein the on-board server 101 can obtain the description information of the track, the parameter information of the vehicle and the calibration path based on the on-board sensing device 103, wherein the calibration path is the historical driving path of the vehicle on the track, and the calibration path includes a calibration point set, and then according to the description information, parameter information and calibration point set, a candidate point group set is determined, and according to each candidate point group in the candidate point group set, a candidate path set is determined, and then the track driving path is determined from the candidate path set.

[0053] In this embodiment of the present application, by collecting track description information in real time while driving a race car on the track, rather than directly reading data from a data repository, errors between the data in the data repository and the actual data caused by external factors can be avoided, allowing accurate understanding of track parameters. Furthermore, by determining a set of candidate paths corresponding to a set of candidate point groups based on the description information, parameter information, and a set of calibration points, and then determining a track driving path from the set of candidate paths, constructive guidance can be provided to the currently training athlete, assisting the driver in analyzing and improving driving performance, thereby enhancing training effectiveness.

[0054] The following describes a specific embodiment of a method for determining a track driving path of the present application. Figure 2 This is a flow chart of a method for determining a track driving path provided by an embodiment of the present application. This specification provides the method operation steps shown in the embodiment or flow chart, but it may include more or fewer operation steps based on conventional or non-creative work. The order of steps listed in the embodiment is only one of many execution orders and does not represent the only execution order. In actual execution, the method sequence shown in the embodiment or the accompanying drawings may be executed or executed in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 2 As shown, the method includes:

[0055] S201: Obtain track description information, vehicle parameter information, and a calibration path; the calibration path is the vehicle's historical driving path on the track, and the calibration path includes a set of calibration points.

[0056] In this embodiment of the present application, the processor can receive a start command triggered by a user on the racing car's human-computer interface, activate the device for determining the track driving path, and control the device to be in an operational state. In an alternative embodiment, user information can be entered on the onboard human-computer interface, such as the current trainee's name, ID number, passport number, trainee ID number, or other information that can indicate the trainee's identity, for example.

[0057] In an embodiment of the present application, when the current training player drives a racing car on a track, description information of the track can be obtained based on the on-board sensing equipment of the racing car driven by the current training player, such as radar and camera, such as the length of the track, the width of the track, the road adhesion coefficient of the track, the curvature of the track, and the speed limit data of the track.

[0058] In an optional implementation, a current trainee can drive multiple laps on a track to obtain track length, width, road adhesion coefficient, curve radius, and speed limit data. By collecting track description information in real time while driving the car on the track, rather than directly reading data from a data repository, discrepancies between the data in the data repository and the actual data caused by external factors can be avoided, allowing accurate tracking of track parameters.

[0059] In an embodiment of the present application, the processor can obtain vehicle parameter information, such as the vehicle's wheel friction coefficient and the vehicle's power system, based on the on-board sensing equipment on the racing car. The vehicle's power system includes but is not limited to battery power, motor status, and electrical system status.

[0060] In the embodiment of the present application, the current training athlete can drive the car around the track for one lap as the calibration path, or can drive the car around the track for multiple laps and select the path with the shortest time as the calibration path, or can drive the car around the track for multiple laps and select the path that best suits their operation as the calibration path. The calibration path may include a set of calibration points, Figure 3 : This is a schematic diagram of a calibration path provided in an embodiment of the present application, which includes calibration points A, B and C. Among them, calibration point A can be represented as an entry point, calibration point B can be represented as an exit point, and calibration point C can be represented as a departure point. Calibration point A can also be represented as a deceleration point, calibration point B can be represented as a turning point, and calibration point C can be represented as an acceleration point. Specifically, the current training player can adjust the parameters of the racing car according to their personal driving level and preferences, such as the selection of driving mode, the setting of the maximum speed, the setting of the ability recovery level, the setting of the difficulty of control, etc. Among them, the higher the difficulty of control, the higher the technical requirements for the current training player, which requires a fast reaction speed and a fast control speed of the steering wheel, accelerator and brake pedal.

[0061] In an optional embodiment, the track description, vehicle parameters, and calibrated path can be used to digitally reconstruct the track and reproduce the vehicle's trajectory. Specifically, the track description, vehicle parameters, and historical driving path can be displayed on an onboard human-computer interface. An animation depicting the track and historical driving path can also be displayed on the onboard human-computer interface. Alternatively, a complete physical simulation can be constructed based on the vehicle's parameters and pre-stored on an onboard server. This animation can then be generated by performing an offline simulation on the server based on the detected track description.

[0062] S203: Determine a candidate point group set according to the description information, parameter information and the calibration point set.

[0063] In an embodiment of the present application, the processor may obtain reference driving data corresponding to each calibration point in the calibration set, where the reference driving data may include reference position data, reference speed data, and a reference heading angle. Furthermore, a candidate point group set may be determined based on the descriptive information, parameter information, and the reference driving data. The reference speed data may include the vehicle's speed and acceleration in a first direction, the speed and acceleration in a second direction, and the speed and acceleration in a third direction, where the first, second, and third directions are perpendicular to each other.

[0064] Figure 4 FIG. 1 is a flow chart of a method for determining a candidate point group set provided in an embodiment of the present application. In an optional implementation, the candidate point group set may be determined using the following steps. The specific steps are as follows:

[0065] S401: Determine, based on description information, parameter information, reference position data, reference speed data and reference heading angle, a candidate position data set corresponding to each calibration point, a candidate speed data set corresponding to each candidate position data in the candidate position data set, and a candidate heading angle set corresponding to each candidate position data.

[0066] In the embodiment of the present application, the processor can determine the candidate position data set corresponding to each calibration point based on the description information of the track, the parameter information of the vehicle, the reference position data corresponding to each calibration point, the reference speed data and the reference heading angle. Based on the example listed above, the candidate position data set corresponding to the calibration point A can be determined based on the description information, the parameter information of the vehicle, the reference driving data corresponding to the calibration point A, that is, the reference position data S corresponding to the calibration point A. A , reference speed data V A and the reference heading angle θ A , determine the candidate position data set corresponding to the calibration point A {S Ai}, and determine each candidate position data S Ai The corresponding candidate speed data set {V Ai} and each candidate position data S Ai The corresponding candidate heading angle set {θ Ai}.like Figure 3 As shown, point D can represent a candidate position corresponding to calibration point A, and the candidate position data of point D is the candidate position data corresponding to calibration point A. Assuming that the reference speed data corresponding to calibration point A is 100 km / h and the corresponding heading angle is 2°, the candidate speed data corresponding to point D can be determined to be 95 km / h and the corresponding heading angle is 2°. Alternatively, the candidate speed data corresponding to point D can be determined to be 105 km / h and the corresponding heading angle is 1°. The only requirement is to minimize the driving time of the car while ensuring driving safety.

[0067] S403: Determine a candidate point group set according to each candidate position data, a candidate speed data set corresponding to each candidate position data, and a candidate heading angle set corresponding to each candidate position data.

[0068] In an embodiment of the present application, the candidate position that consumes the least time based on the corresponding candidate speed data and the corresponding candidate heading angle data can be used as the candidate point of the corresponding calibration point to obtain a candidate point group corresponding to the calibration point set.

[0069] S205: Determine a candidate path set according to each candidate point group in the candidate point group set.

[0070] In the embodiment of the present application, a candidate path corresponding to each candidate point group in the candidate point group set may be fitted based on the candidate points of the candidate point group to obtain a candidate path set.

[0071] S207: Determine a track driving path from the candidate path set.

[0072] In an embodiment of the present application, the processor can obtain reference time information corresponding to the calibrated path, that is, the time required to drive according to the calibrated path, and obtain candidate time information corresponding to each candidate path, that is, the time required to drive according to each candidate path, and then determine the track driving path from the candidate paths based on the reference time information and the candidate time information corresponding to each candidate path.

[0073] In an optional embodiment, a vehicle-mounted server can perform dynamic driving simulation on each candidate path and output detailed track description information and control suggestions, such as the track length, track width, track road adhesion coefficient, track curve radius and track speed limit data. It can also output the maximum recommended speed for straights and curves, and the candidate position data, candidate speed data and candidate heading angle corresponding to each candidate point in the candidate point group, so that the current training player can select a track driving path suitable for his or her operation based on the output content. Figure 3 Path 1 is the calibration path, and path 2 is the track driving path.

[0074] In this embodiment of the present application, after determining a track driving path, the current trainee can practice driving based on the corresponding prompt information for the track driving path. During the practice process, new control suggestions can be given based on the actual driving route and vehicle speed information for each lap, allowing the current trainee to continue practicing. The in-vehicle human-computer interaction system can display control information corresponding to the track driving path, such as speed and heading angle at each candidate point, as well as rankings of multiple practice sessions and a performance analysis report.

[0075] The method for determining a track driving path provided in the embodiments of this application collects track description information in real time by driving the car on the track, rather than directly reading data from a data repository. This avoids errors between the data in the data repository and the actual data due to external factors, and accurately determines the relevant track parameters. Furthermore, by determining a set of candidate paths corresponding to a set of candidate point groups based on the description information, parameter information, and a set of calibration points, and then determining a track driving path from the set of candidate paths, constructive guidance can be provided to the currently training athlete, assisting the driver in analyzing and improving driving performance, thereby enhancing training effectiveness.

[0076] The embodiment of the present application also provides a device for determining a track driving path, Figure 5 This is a schematic diagram of the structure of a device for determining a track driving path provided by an embodiment of the present application. Figure 5 As shown, the device may include:

[0077] The acquisition module 501 can be used to obtain track description information, vehicle parameter information and a calibration path; the calibration path is the historical driving path of the vehicle on the track, and the calibration path includes a set of calibration points;

[0078] The first determination module 503 may be configured to determine a candidate point group set based on the description information, the parameter information, and the calibration point set;

[0079] The second determining module 505 may be configured to determine a candidate path set based on each candidate point group in the candidate point group set;

[0080] The third determining module 507 may be configured to determine a racetrack driving path from the candidate path set.

[0081] In the embodiment of the present application, the acquisition module 501 includes:

[0082] A first acquiring unit, configured to acquire reference driving data corresponding to each calibration point in the calibration point set;

[0083] The first determination unit is used to determine the candidate point group set based on the description information, parameter information and reference driving data

[0084] In the embodiment of the present application, the reference driving data includes reference position data, reference speed data and reference heading angle corresponding to each calibration point;

[0085] The first determining module 503 may include:

[0086] a second determining unit, configured to determine, based on the description information, the parameter information, the reference position data, the reference speed data, and the reference heading angle, a candidate position data set corresponding to each calibration point, a candidate speed data set corresponding to each candidate position data in the candidate position data set, and a candidate heading angle set corresponding to each candidate position data;

[0087] The third determining unit is configured to determine a candidate point group set according to each candidate position data, a candidate speed data set corresponding to each candidate position data, and a candidate heading angle set corresponding to each candidate position data.

[0088] In the embodiment of the present application, the third determining module 507 may include:

[0089] A second acquiring unit, configured to acquire reference time information corresponding to the calibration path;

[0090] A third acquiring unit is used to acquire candidate time information corresponding to each candidate path;

[0091] The fourth determining unit is configured to determine a track driving path from the candidate paths based on the reference time information and the candidate time information corresponding to each candidate path.

[0092] In the embodiment of the present application, the description information includes the length of the track, the width of the track, the road adhesion coefficient of the track, the curvature of the track, and the speed limit data of the track;

[0093] The vehicle's parameter information includes the vehicle's wheel friction coefficient and the vehicle's power system.

[0094] The device and method embodiments in the embodiments of this application are based on the same application concept.

[0095] The track driving path determination device provided in the embodiments of this application collects track description information in real time by driving the car on the track, rather than directly reading data from a data repository. This avoids errors between the data in the data repository and the actual data caused by external factors, and accurately determines the relevant track parameters. Furthermore, by determining a set of candidate paths corresponding to a set of candidate point groups based on the description information, parameter information, and a set of calibration points, and then determining a track driving path from the set of candidate paths, constructive guidance can be provided to the currently training athlete, assisting the driver in analyzing and improving driving performance, thereby enhancing training effectiveness.

[0096] An embodiment of the present application also provides an electronic device, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a method for determining a track driving path in a method embodiment. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the memory to implement the above-mentioned method for determining a track driving path.

[0097] An embodiment of the present application also provides a storage medium, which can be set in a server to store at least one instruction, at least one program, code set, or instruction set related to a method for determining a track driving path in a method embodiment. The at least one instruction, at least one program, code set, or instruction set is loaded and executed by the processor to implement the above-mentioned method for determining a track driving path.

[0098] Optionally, in this embodiment, the storage medium may be located in at least one of a plurality of network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a read-only memory (ROM), a mobile hard disk, a magnetic disk, or an optical disk.

[0099] As can be seen from the embodiments of the method, device, electronic device, or storage medium for determining a track driving path provided by the present application, the method of the present application includes obtaining track description information, vehicle parameter information, and a calibration path, wherein the calibration path is the vehicle's historical driving path on the track, and the calibration path includes a set of calibration points. Then, based on the description information, parameter information, and calibration point set, a set of candidate point groups is determined, and based on each candidate point group in the set of candidate point groups, a set of candidate paths is determined, and then the track driving path is determined from the set of candidate paths. Based on the embodiments of the present application, the track description information is collected in real time by driving the car on the track, rather than directly reading the data from the data repository. This can avoid the situation where the data in the data repository and the actual data caused by the external environment have errors, and the relevant parameters of the track can be accurately determined. Furthermore, by determining the set of candidate paths corresponding to the set of candidate point groups based on the description information, parameter information, and calibration point set, and determining the track driving path from the set of candidate paths, constructive guidance can be output to the current training player, which can assist the driver in analyzing and improving driving operations and improving training results.

[0100] In the present invention, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium; internal connection between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0101] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description describes specific embodiments, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in the order of different embodiments and can achieve the expected results. In addition, the processes depicted in the accompanying drawings do not necessarily require a specific order or a connection order to achieve the desired results. In some embodiments, multi-tasking parallel processing is also possible or may be advantageous.

[0102] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the partial description of the method embodiments.

[0103] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for determining a racetrack driving path, characterized in that: include: Obtain track description information, vehicle parameter information and calibration path in real time; The calibration path is a historical driving path of the vehicle on the track, and the calibration path includes a set of calibration points; the description information includes the length of the track, the width of the track, the road adhesion coefficient of the track, the curvature of the track, and the speed limit data of the track; Determine a candidate point group set according to the description information, the parameter information and the calibration point set; Determining a candidate path set according to each candidate point group in the candidate point group set; Performing dynamic driving simulation on each candidate path to obtain current description information of the track and control suggestions; the current description information includes the current length of the track, the current width of the track, the current road adhesion coefficient of the track, the current curve curvature of the track, and the current speed limit data of the track; The control suggestion includes the maximum recommended speed on a straight road and the maximum recommended speed on a curve; A track driving path is determined from the candidate path set according to the current description information and the maneuvering suggestion.

2. The method according to claim 1, characterized in that The determining of a candidate point group set according to the description information, the parameter information, and the calibration point set includes: Obtaining reference driving data corresponding to each calibration point in the calibration point set; The candidate point group set is determined according to the description information, the parameter information and the reference driving data.

3. The method according to claim 2, characterized in that The reference driving data includes reference position data, reference speed data and reference heading angle corresponding to each calibration point; The determining the candidate point group set according to the description information, the parameter information and the reference driving data includes: Determining, based on the description information, the parameter information, the reference position data, the reference speed data, and the reference heading angle, a candidate position data set corresponding to each calibration point, a candidate speed data set corresponding to each candidate position data in the candidate position data set, and a candidate heading angle set corresponding to each candidate position data; The candidate point group set is determined according to each candidate position data, the candidate speed data set corresponding to each candidate position data, and the candidate heading angle set corresponding to each candidate position data.

4. The method according to claim 1, wherein Determining a track driving path from the candidate path set includes: Obtaining reference time information corresponding to the calibration path; Obtaining candidate time information corresponding to each candidate path in the candidate path set; The racetrack driving path is determined from the candidate paths according to the reference time information and the candidate time information corresponding to each candidate path.

5. The method according to claim 1, characterized in that The parameter information of the vehicle includes the wheel friction coefficient of the vehicle and the power system of the vehicle.

6. A device for determining a track driving path, characterized in that: include: The acquisition module is used to obtain the track description information, vehicle parameter information and calibration path in real time; The calibration path is a historical driving path of the vehicle on the track, and the calibration path includes a set of calibration points; A first determining module, configured to determine a candidate point group set based on the description information, the parameter information, and the calibration point set; a second determining module, configured to determine a candidate path set based on each candidate point group in the candidate point group set; The third determination module is configured to perform dynamic driving simulation processing on each candidate path to obtain a current description of the track and control suggestions; the current description information includes the length of the track, the width of the track, the road adhesion coefficient of the track, the curvature of the track, and the speed limit data of the track; the control suggestions include the maximum recommended speed for straights and the maximum recommended speed for curves; and based on the current description information and the control suggestions, determine a track driving path from the candidate path set.

7. The device according to claim 6, characterized in that The acquisition module includes: A first acquiring unit, configured to acquire reference driving data corresponding to each calibration point in the calibration point set; The first determining unit is configured to determine the candidate point group set according to the description information, the parameter information and the reference driving data.

8. The device according to claim 7, characterized in that The reference driving data includes reference position data, reference speed data and reference heading angle corresponding to each calibration point; The first determining module includes: a second determining unit, configured to determine, based on the description information, the parameter information, the reference position data, the reference speed data, and the reference heading angle, a candidate position data set corresponding to each calibration point, a candidate speed data set corresponding to each candidate position data in the candidate position data set, and a candidate heading angle set corresponding to each candidate position data; The third determining unit is configured to determine the candidate point group set according to each candidate position data, the candidate speed data set corresponding to each candidate position data, and the candidate heading angle set corresponding to each candidate position data.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the method for determining a racetrack driving path according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the method for determining a racetrack driving path according to any one of claims 1 to 5.

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