Reference Trajectory Planning Method, Device, Electronic Device and Storage Medium for a Vehicle

Abstract

This application relates to the technical field of vehicle trajectory planning, and particularly to a method, device, electronic device and storage medium for planning a reference trajectory of a vehicle. The method includes: determining the current lane where the vehicle is located by obtaining the positioning information of the vehicle, calculating the lane width of the current lane according to the two lane lines of the current lane, when the lane width does not meet the preset width requirement, determining the trajectory points of the reference line of the vehicle, and performing third-order B-spline interpolation processing on the trajectory points to obtain B-spline interpolation points, fitting them to generate a target trajectory equation, and then planning the reference trajectory of the vehicle according to the target trajectory equation. According to the method for planning the reference trajectory of the vehicle in the embodiments of this application, the reference trajectory coordinates calculated from the lane information of the high-precision map are smoothed by the B-spline method, and the reference trajectory equation is generated by the least squares method to improve the accuracy of the planned trajectory and driving safety.

Description

Technical Field

[0001] This application relates to the technical field of vehicle trajectory planning, and particularly to a method, device, electronic device, and storage medium for planning a reference trajectory of a vehicle. Background Art

[0002] With the continuous development of automotive technology, vehicle intelligence has been integrated into all aspects of people's lives. Most intelligent driving systems have launched advanced driving assistance functions at the L2 level, but this has also brought huge challenges to traffic driving safety. Therefore, in the decision-making part of autonomous driving, the path planning problem is a very important issue in the field of autonomous driving research.

[0003] In related technologies, when an autonomous driving system performs path planning, it mainly performs path planning based on a reference line (reference trajectory) through methods such as dynamic programming and quadratic programming to achieve functions such as avoiding static obstacles and dynamic obstacles.

[0004] However, the path generated by path planning based on the reference route is relatively rough and has low accuracy, which is not conducive to the safe driving of users and urgently needs to be improved. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for planning a reference trajectory of a vehicle to solve problems such as low accuracy of the trajectory planning method in related technologies and easy causing driving hazards.

[0006] The first aspect of the embodiments of this application provides a method for planning a reference trajectory of a vehicle, including the following steps: obtaining the positioning information of the vehicle, and determining the current lane where the vehicle is located according to the positioning information; calculating the lane width of the current lane according to two lane lines of the current lane, and determining whether the lane width meets a preset width requirement; and when the lane width does not meet the preset width requirement, determining the trajectory points of the reference line of the vehicle, performing cubic B-spline interpolation processing on the trajectory points to obtain B-spline interpolation points, fitting the B-spline interpolation points to generate a target trajectory equation, and planning the reference trajectory of the vehicle according to the target trajectory equation.

[0007] By means of the above technical means, the trajectory points of the vehicle reference line are smoothed through B-spline interpolation points, improving the accuracy of the generated trajectory route.

[0008] Further, in an embodiment of the present application, determining the trajectory points of the reference line of the vehicle includes: determining whether the currently occupied lane is the outermost lane; if the currently occupied lane is the outermost lane, determining the trajectory points of the reference line of the vehicle according to the road boundary lane line, otherwise, determining the trajectory points of the reference line of the vehicle according to the lane line with a higher confidence level among the two lane lines of the currently occupied lane.

[0009] According to the above technical means, by determining the reference trajectory points, relevant calculations can be performed according to the lane where the current vehicle is located, thereby planning relevant paths and improving the planning accuracy.

[0010] Further, in an embodiment of the present application, the cubic B-spline interpolation processing according to the trajectory points includes: based on a preset B-spline curve, performing cubic B-spline interpolation processing according to the trajectory points, where the preset B-spline curve is:

[0011]

[0012] where d j is the control point, N j,k (u) is an odd function, and u, u i and u i+1 are both knot vectors.

[0013] According to the above technical means, through cubic B-spline interpolation processing, the uneven smoothness situations such as possible jumps of the reference line coordinate points can be solved.

[0014] Further, in an embodiment of the present application, generating the target trajectory equation by fitting the B-spline interpolation points includes: based on a preset fitting polynomial, calculating the target formula of the sum of the distances from the B-spline interpolation points to the corresponding curve of the preset fitting polynomial, and taking partial derivatives of multiple parameters in the target formula to obtain the target matrix formula; according to the matrix operation, multiple parameters of the preset fitting polynomial can be calculated, so as to obtain the target trajectory equation according to the multiple parameters.

[0015] According to the above technical means, by fitting the B-spline interpolation points, the target trajectory equation is generated, so as to improve the target trajectory accuracy.

[0016] Further, in an embodiment of the present application, before calculating the width of the currently occupied lane according to the two lane lines of the currently occupied lane, it further includes: performing interpolation processing on the two lane lines of the currently occupied lane.

[0017] According to the above technical means, the two lane lines of the current lane are interpolated to solve the problems of large calculation errors and too few coordinate points when calculating the reference coordinate system.

[0018] A second aspect of the present application provides a reference trajectory planning device for a vehicle, comprising: an acquisition module for acquiring positioning information of the vehicle and determining the current lane of the vehicle based on the positioning information; a calculation module for calculating the lane width of the current lane based on two lane lines of the current lane, and determining whether the lane width meets a preset width requirement; and a planning module for determining trajectory points of the reference line of the vehicle when the lane width does not meet the preset width requirement, performing third-order B-spline interpolation processing based on the trajectory points to obtain B-spline interpolation points, fitting the B-spline interpolation points to generate a target trajectory equation, and planning the reference trajectory of the vehicle based on the target trajectory equation.

[0019] Furthermore, in one embodiment of the present application, the planning module includes: a judgment unit, used to judge whether the current lane is the outermost lane; a determination unit, used to determine the trajectory point of the reference line of the vehicle according to the road boundary lane line if the current lane is the outermost lane, otherwise, determine the trajectory point of the reference line of the vehicle according to the lane line with higher confidence among the two lane lines of the current lane.

[0020] Further, in one embodiment of the present application, the planning module includes: performing a third-order B-spline interpolation process according to the trajectory points based on a preset B-spline curve, wherein the preset B-spline curve is:

[0021]

[0022] Among them, d j is the control point, N j,k (u) is an odd function, u, u i and u i+1 are node vectors.

[0023] Furthermore, in one embodiment of the present application, the planning module includes: a first calculation unit, used to calculate the target formula of the sum of the distances from the B-spline interpolation point to the corresponding curve of the preset fitting polynomial based on a preset fitting polynomial, and to obtain the target matrix formula by taking partial derivatives of multiple parameters in the target formula; and a second calculation unit, used to calculate multiple parameters of the preset fitting polynomial according to the matrix operation, so as to obtain the target trajectory equation according to the multiple parameters.

[0024] Further, in an embodiment of the present application, before calculating the width of the current lane according to the two lane lines of the current lane, the calculation module further includes: an interpolation unit for performing interpolation processing on the two lane lines of the current lane.

[0025] An embodiment of the third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the vehicle reference trajectory planning method as described in the above embodiments.

[0026] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the vehicle reference trajectory planning method as described in the above embodiments.

[0027] In the embodiment of the present application, the current lane where the vehicle is located is determined by obtaining the positioning information of the vehicle, the lane width of the current lane is calculated according to the two lane lines of the current lane, when the lane width does not meet the preset width requirement, the trajectory points of the reference line of the vehicle are determined, and cubic B-spline interpolation processing is performed according to the trajectory points to obtain B-spline interpolation points, and the target trajectory equation is generated by fitting them, and then the reference trajectory of the vehicle is planned according to the target trajectory equation. Thus, the problems of low accuracy of the trajectory planning method in the related art and easy causing driving hazards are solved.

[0028] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0030] Figure 1 is a flowchart of a vehicle reference trajectory planning method according to an embodiment of the present application;

[0031] Figure 2 is an example diagram of a vehicle reference trajectory planning device according to an embodiment of the present application;

[0032] Figure 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

[0033] Description of the reference numerals: 10 - vehicle reference trajectory planning device; 100 - acquisition module, 200 - calculation module, 300 - planning module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0035] The reference trajectory planning method, device, vehicle and storage medium of the vehicle according to the embodiments of the present application will be described below with reference to the accompanying drawings. In view of the problem that the trajectory planning method in the related art mentioned in the above background technology has low accuracy and is likely to cause driving hazards, the present application provides a reference trajectory planning method for a vehicle. In this method, the current lane where the vehicle is located is determined by obtaining the positioning information of the vehicle, the lane width of the current lane is calculated according to the two lane lines of the current lane, and when the lane width does not meet the preset width requirement, the trajectory points of the reference line of the vehicle are determined, and cubic B-spline interpolation processing is performed according to the trajectory points to obtain B-spline interpolation points, and a target trajectory equation is generated by fitting them, and then the reference trajectory of the vehicle is planned according to the target trajectory equation. Thus, the problems such as low accuracy of the trajectory planning method in the related art and easy to cause driving hazards are solved. The reference trajectory coordinates calculated from the lane information of the high-precision map are smoothed by the B-spline method, and the reference trajectory equation is generated by the least square method to improve the accuracy of the planned trajectory and driving safety.

[0036] Specifically, Figure 1 is a schematic flow chart of a reference trajectory planning method for a vehicle provided by an embodiment of the present application.

[0037] As Figure 1 shown, the reference trajectory planning method for the vehicle includes the following steps:

[0038] In step S101, the positioning information of the vehicle is obtained, and the current lane where the vehicle is located is determined according to the positioning information.

[0039] Specifically, in the embodiments of the present application, the current positioning information of the vehicle can be obtained according to detection devices such as radars or cameras provided in the vehicle, and then the coordinate point information of the lane lines in the high-precision map is obtained according to the positioning information of the vehicle, and the lane line coordinate point information is converted into the position in the reference system with the coordinate point information of the current vehicle as the coordinate origin according to the coordinate point information and the heading of the current vehicle, and then the current lane where the vehicle is located is determined according to the converted lane line coordinate point information.

[0040] In step S102, the lane width of the current lane is calculated according to the two lane lines of the current lane, and it is judged whether the lane width meets the preset width requirement.

[0041] Further, in an embodiment of the present application, before calculating the width of the current lane based on the two lane lines of the current lane, it further includes: performing interpolation processing on the two lane lines of the current lane.

[0042] The preset width can be a width threshold set by relevant technicians and users, or a width threshold obtained through multiple computer simulations, and specific limitations are not made here.

[0043] Specifically, since the coordinate points of the lane lines in the high-precision map are unevenly distributed, that is, when the curvature of the lane line is large, the coordinate points are densely distributed; when the curvature of the lane line is small, the coordinate points are sparsely distributed, and when the coordinate points of the left and right lane lines are sparse, if the coordinate point information of the reference line is directly calculated, there will be problems of large calculation errors and too few coordinate points, thus unable to meet the quantity requirements for curve fitting. Therefore, the embodiment of the present application needs to perform linear interpolation processing on the left and right lane lines of the current lane. After the interpolation processing is completed, a certain distance of the current vehicle is selected and the lane width of the current lane is calculated based on the two lane lines of the current lane, and it is determined whether the lane width meets the preset width requirement.

[0044] In step S103, when the lane width does not meet the preset width requirement, the trajectory points of the reference line of the vehicle are determined, and third-order B-spline interpolation processing is performed based on the trajectory points to obtain B-spline interpolation points. The B-spline interpolation points are fitted to generate a target trajectory equation, and the reference trajectory of the vehicle is planned according to the target trajectory equation.

[0045] Specifically, in the embodiment of the present application, after obtaining the lane line coordinate points through linear interpolation, the lane width of the current lane is calculated by the projection of the connection line of the left and right lane line coordinates of the current lane on the normal vector of one side lane line. When the lane width is within a certain range (such as 3.5m - 3.75m), it indicates that the lane width of the current lane meets the preset width requirement; when the lane width is too wide or too narrow, it indicates that the lane width of the current lane does not meet the preset width requirement.

[0046] Further, in an embodiment of the present application, determining the trajectory points of the reference line of the vehicle includes: determining whether the current lane is the outermost lane; if the current lane is the outermost lane, the trajectory points of the reference line of the vehicle are determined according to the road boundary lane line, otherwise, the trajectory points of the reference line of the vehicle are determined according to the lane line with a higher confidence level among the two lane lines of the current lane.

[0047] Specifically, when the lane width of the current lane meets the preset width requirement, the vehicle is centered and the planned trajectory points are calculated; when the lane width of the current lane does not meet the preset width requirement, it is necessary to determine whether the current lane is the outermost lane. If the current lane is the outermost lane, the trajectory points of the reference line of the vehicle are determined according to the road boundary lane line; otherwise, the trajectory points of the reference line of the vehicle are determined according to the lane line with higher confidence among the two lane lines of the current lane. It should be noted that when the curvature of the lane line is large, there may be errors in the calculated lane width, which needs to be considered additionally. In the embodiment of the present application, when the curvature of the lane line is large, it is default to drive in the center.

[0048] Further, since there may be non-smooth situations such as jumps when directly calculating the trajectory points of the reference line of the vehicle in the embodiment of the present application, making it difficult for the directly fitted curve to meet the requirements. Therefore, it is necessary to perform third-order B-spline interpolation processing on the calculated trajectory points based on the preset B-spline curve to obtain B-spline interpolation points. Among them, the recursive definition of the B-spline can be expressed as:

[0049]

[0050]

[0051] where p is the order of the B-spline, u, u i , u i+1 , u i+p and u i+p+1 are all knot vectors, i is the serial number of the B-spline, N i,0 , N i,p , N i,p-1 and N i+1,p-1 are all the recursive definitions of the B-spline, N i,p-1 (u) and N i+1,p-1 (u) are odd functions. Among them, the value of u is in the range of the knot vector u i , i = 1, 2,....j + p + 1, and the number of output points of the B-spline curve is determined by the number of selected u.

[0052] The preset B-spline curve is:

[0053]

[0054] where d j is the control point, and N j,k (u) is an odd function.

[0055] It should be noted that the definition of the knot vector can divide the B-spline into uniform B-spline and quasi-uniform B-spline. In the embodiment of the present application, the quasi-uniform B-spline is adopted, where the multiplicity at both ends of the knot vector is p + 1, and the multiplicity of the internal knots is 1.

[0056] Further, in an embodiment of the present application, fitting the B-spline interpolation points to generate a target trajectory equation includes: calculating a target formula for the sum of the distances from the B-spline interpolation points to the corresponding curve of a preset fitting polynomial based on the preset fitting polynomial, and taking partial derivatives of multiple parameters in the target formula to obtain a target matrix formula; calculating multiple parameters of the preset fitting polynomial according to matrix operations, so as to obtain a target trajectory equation based on the multiple parameters.

[0057] Specifically, the embodiment of the present application uses the least squares method to fit the obtained B-spline interpolation points. First, based on the preset fitting polynomial, calculate a target formula for the sum of the distances from the B-spline interpolation points to the corresponding curve of the preset fitting polynomial, where the preset fitting polynomial can be expressed as: y = a0 + a1x + a2x 2 + a3x 3 , and the target formula for the sum of the distances from the B-spline interpolation points to the corresponding curve of the preset fitting polynomial can be expressed as: Secondly, take partial derivatives of multiple parameters in the target formula to make the partial derivatives equal to 0, so as to obtain a target matrix formula, and calculate the parameters of the B-spline curve. The partial derivative formula can be expressed as:

[0058]

[0059]

[0060]

[0061]

[0062] The target matrix formula can be expressed as:

[0063]

[0064] where x i and y i are both known B-spline interpolation points, and a0, a1, a2, and a3 are all parameters of the fitting polynomial.

[0065] Finally, multiple parameters of the preset fitting polynomial can be calculated according to matrix operations, so as to obtain a target trajectory equation based on the multiple parameters, and then plan the reference trajectory of the vehicle according to the target trajectory equation, so that the vehicle realizes trajectory planning in the high-precision map.

[0066] The reference trajectory planning method for a vehicle according to an embodiment of the present application determines the current lane where the vehicle is located by obtaining the positioning information of the vehicle, calculates the lane width of the current lane according to the two lane lines of the current lane, and when the lane width does not meet the preset width requirement, determines the trajectory points of the reference line of the vehicle, and performs a third-order B-spline interpolation process on the trajectory points to obtain B-spline interpolation points, fits them to generate a target trajectory equation, and then plans the reference trajectory of the vehicle according to the target trajectory equation. Thus, the problems in the related art such as low accuracy of the trajectory planning method and easy causing driving hazards are solved. The reference trajectory coordinates calculated from the lane information of the high-precision map are smoothed by the B-spline method, and the reference trajectory equation is generated by the least square method to improve the accuracy of the planned trajectory and driving safety.

[0067] Next, a reference trajectory planning device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0068] Figure 2 It is a block diagram of a reference trajectory planning device for a vehicle according to an embodiment of the present application.

[0069] As Figure 2 shown, the reference trajectory planning device 10 for the vehicle includes: an acquisition module 100, a calculation module 200, and a planning module 300.

[0070] Among them, the acquisition module 100 is configured to acquire the positioning information of the vehicle and determine the current lane where the vehicle is located according to the positioning information;

[0071] The calculation module 200 is configured to calculate the lane width of the current lane according to the two lane lines of the current lane and determine whether the lane width meets the preset width requirement; and

[0072] The planning module 300 is configured to, when the lane width does not meet the preset width requirement, determine the trajectory points of the reference line of the vehicle, perform a third-order B-spline interpolation process on the trajectory points to obtain B-spline interpolation points, fit the B-spline interpolation points to generate a target trajectory equation, and plan the reference trajectory of the vehicle according to the target trajectory equation.

[0073] Further, in an embodiment of the present application, the planning module 300 includes: a judgment unit and a determination unit.

[0074] Among them, the judgment unit is configured to judge whether the current lane is the outermost lane;

[0075] The determination unit is configured to, if the current lane is the outermost lane, determine the trajectory points of the reference line of the vehicle according to the road boundary lane line, otherwise, determine the trajectory points of the reference line of the vehicle according to the lane line with higher confidence among the two lane lines of the current lane.

[0076] Further, in an embodiment of the present application, the planning module 300 includes:

[0077] Based on a preset B-spline curve, perform third-order B-spline interpolation processing according to the trajectory points, where the preset B-spline curve is:

[0078]

[0079] where d j is a control point, N j,k (u) is an odd function, and u, u i and u i+1 are both knot vectors.

[0080] Further, in an embodiment of the present application, the planning module 300 includes: a first calculation unit and a second calculation unit.

[0081] Among them, the first calculation unit is used to calculate the target formula of the sum of the distances from the B-spline interpolation points to the corresponding curve of the preset fitting polynomial based on the preset fitting polynomial, and take partial derivatives of multiple parameters in the target formula to obtain the target matrix formula;

[0082] The second calculation unit is used to calculate multiple parameters of the preset fitting polynomial according to matrix operations, so as to obtain the target trajectory equation according to the multiple parameters.

[0083] Further, in an embodiment of the present application, before calculating the width of the current lane according to the two lane lines of the current lane, the calculation module 200 further includes:

[0084] An interpolation unit for performing interpolation processing on the two lane lines of the current lane.

[0085] According to the vehicle reference trajectory planning device provided by the embodiment of the present application, the current lane where the vehicle is located is determined by obtaining the positioning information of the vehicle, the lane width of the current lane is calculated according to the two lane lines of the current lane, when the lane width does not meet the preset width requirement, the trajectory points of the reference line of the vehicle are determined, and third-order B-spline interpolation processing is performed according to the trajectory points to obtain B-spline interpolation points, and a target trajectory equation is generated by fitting them, and then the reference trajectory of the vehicle is planned according to the target trajectory equation. Thus, the problems in the related art that the trajectory planning method has low accuracy and is prone to driving hazards are solved. The reference trajectory coordinates calculated from the lane information of the high-precision map are smoothed by the B-spline method, and the reference trajectory equation is generated by the least square method to improve the accuracy of the planned trajectory and driving safety.

[0086] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device may include:

[0087] A memory 301, a processor 302, and a computer program stored on the memory 301 and executable on the processor 302.

[0088] When the processor 302 executes the program, it implements the reference trajectory planning method for a vehicle provided in the above embodiments.

[0089] Furthermore, the electronic device further includes:

[0090] A communication interface 303 for communication between the memory 301 and the processor 302.

[0091] The memory 301 is used to store a computer program executable on the processor 302.

[0092] The memory 301 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0093] If the memory 301, the processor 302, and the communication interface 303 are implemented independently, the communication interface 303, the memory 301, and the processor 302 can be interconnected through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 3 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0094] Optionally, in a specific implementation, if the memory 301, the processor 302, and the communication interface 303 are integrated on a single chip, the memory 301, the processor 302, and the communication interface 303 can communicate with each other through an internal interface.

[0095] The processor 302 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0096] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method for planning a reference trajectory of a vehicle is implemented.

[0097] In the description of this specification, the descriptions of reference terms such as "an embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0098] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0099] Any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more N executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art of the embodiments of the present application.

[0100] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays, field-programmable gate arrays, etc.

[0101] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the above embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0102] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A reference trajectory planning method for a vehicle, characterized in that, It includes the following steps: Obtain the positioning information of the vehicle, and determine the current lane where the vehicle is located according to the positioning information; Calculate the lane width of the current lane according to the two lane lines of the current lane, and determine whether the lane width meets the preset width requirement; And When the lane width does not meet the preset width requirement, determine the trajectory points of the reference line of the vehicle, perform cubic B-spline interpolation processing according to the trajectory points to obtain B-spline interpolation points, fit the B-spline interpolation points to generate a target trajectory equation, and plan the reference trajectory of the vehicle according to the target trajectory equation.

2. The method according to claim 1, wherein The determining the trajectory points of the reference line of the vehicle includes: Judge whether the current lane is the outermost lane; If the current lane is the outermost lane, determine the trajectory points of the reference line of the vehicle according to the road boundary lane line, otherwise, determine the trajectory points of the reference line of the vehicle according to the lane line with higher confidence among the two lane lines of the current lane.

3. The method according to claim 2, wherein The performing cubic B-spline interpolation processing according to the trajectory points includes: Based on a preset B-spline curve, perform cubic B-spline interpolation processing according to the trajectory points, where the preset B-spline curve is: where d j is a control point, N j,k (u) is an odd function, u, u i and u i+1 are all knot vectors.

4. The method according to claim 3, wherein The fitting the B-spline interpolation points to generate a target trajectory equation includes: Based on a preset fitting polynomial, calculate the target formula of the sum of the distances from the B-spline interpolation points to the corresponding curve of the preset fitting polynomial, and take partial derivatives of multiple parameters in the target formula to obtain a target matrix formula; According to the matrix operation, multiple parameters of the preset fitting polynomial can be calculated to obtain the target trajectory equation according to the multiple parameters.

5. The method according to claim 1, characterized in that, Before calculating the lane width of the current lane according to the two lane lines of the current lane, it further includes: Perform interpolation processing on the two lane lines of the current lane.

6. A reference trajectory planning device for a vehicle, characterized in that, It includes: An acquisition module, configured to acquire the positioning information of the vehicle, and determine the current lane where the vehicle is located according to the positioning information; A calculation module, configured to calculate the lane width of the current lane according to the two lane lines of the current lane, and determine whether the lane width meets the preset width requirement; And A planning module, configured to determine the trajectory points of the reference line of the vehicle when the lane width does not meet the preset width requirement, perform cubic B-spline interpolation processing according to the trajectory points to obtain B-spline interpolation points, fit the B-spline interpolation points to generate a target trajectory equation, and plan the reference trajectory of the vehicle according to the target trajectory equation.

7. The device according to claim 6, characterized in that, The planning module includes: A judgment unit, configured to judge whether the current lane is the outermost lane; A determination unit, configured to, if the current lane is the outermost lane, determine the trajectory points of the reference line of the vehicle according to the road boundary lane line, otherwise, determine the trajectory points of the reference line of the vehicle according to the lane line with higher confidence among the two lane lines of the current lane.

8. The device according to claim 7, characterized in that, The planning module includes: Based on a preset B-spline curve, perform cubic B-spline interpolation processing according to the trajectory points, where the preset B-spline curve is: where d j is a control point, N j,k (u) is an odd function, and u, u i and u i+1 are all knot vectors.

9. An electronic device, characterized in that, It includes: A memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method for planning a reference trajectory of a vehicle according to any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for planning a reference trajectory of a vehicle according to any one of claims 1-5.

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