CN114543826A - Method and device for determining driving path of track, electronic equipment and storage medium - Google Patents
Method and device for determining driving path of track, electronic equipment and storage medium Download PDFInfo
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- CN114543826A CN114543826A CN202210057459.XA CN202210057459A CN114543826A CN 114543826 A CN114543826 A CN 114543826A CN 202210057459 A CN202210057459 A CN 202210057459A CN 114543826 A CN114543826 A CN 114543826A
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Abstract
According to the method, the device, the electronic equipment and the storage medium for determining the driving path of the track, the description information of the track is collected in real time on the track by driving the racing car instead of directly reading data from the data storage library, so that the condition that errors exist between the data in the data storage library and actual data due to the external environment can be avoided, and the relevant parameters of the track can be accurately mastered. And determining a candidate path set corresponding to the candidate point group set according to the description information, the parameter information and the calibration point set, and determining a track driving path from the candidate path set, so that a constructive guidance suggestion can be output to a current training player, the analysis and the driving operation promotion of the driver can be assisted, and the training effect is improved.
Description
Technical Field
The invention relates to the technical field of racing car driving, in particular to a method and a device for determining a driving path of a racing track, electronic equipment and a storage medium.
Background
As an important technology of intelligent driving, intelligent path planning can be divided into global path planning and local path planning. The path planning of the track is different from the side point of the path planning on the daily road, and the track has the characteristics of wide road, single road surface condition and multiple feasible routes, so that the path planning on the track is not only to find a feasible route, but also to find a fastest route. The existing driving assistance system of the vehicle mainly provides information such as vehicle speed, driving mileage, acceleration and the like, and does not provide driving prompt and guidance information integrating current vehicle performance, current driving road section and driver operation characteristics.
Disclosure of Invention
The embodiment of the application provides a method and a device for determining a driving path of a track, an electronic device and a storage medium, which can accurately master relevant parameters of the track, assist a driver in analyzing and improving driving operation and improve training effect.
The embodiment of the application provides a method for determining a driving path of a track, which comprises the following steps:
acquiring description information of the track, parameter information of the vehicle and a calibration path; the calibration path is a historical driving path of the vehicle on the track, and comprises a calibration point set;
determining 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;
and determining the driving path of the track from the candidate path set.
Further, determining a candidate point group set according to the description information, the parameter information and the index point set, including:
acquiring reference driving data corresponding to each calibration point in the calibration point set;
and determining a candidate point group set according to the description information, the parameter information and the reference driving data.
Further, the reference driving data comprises reference position data, reference speed data and reference course angle corresponding to each calibration point;
determining a candidate point group set according to the description information, the parameter information and the reference driving data, wherein the candidate point group set comprises:
determining a candidate position data set corresponding to each index point, a candidate speed data set corresponding to each candidate position data in the candidate position data set and a candidate course angle set corresponding to each candidate position data according to the description information, the parameter information, the reference position data, the reference speed data and the reference course angle;
and determining 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 course angle set corresponding to each candidate position data.
Further, determining the driving path of the racing track from the candidate path set comprises:
acquiring reference time information corresponding to the calibration path;
acquiring candidate time information corresponding to each candidate path in the candidate path set;
and determining the driving path of the track from the candidate paths according to the reference time information and the candidate time information corresponding to each candidate path.
Further, the description information comprises the length of the track, the width of the track, the road adhesion coefficient of the track, the curve radian of the track and the speed limit data of the track;
the parameter information of the vehicle comprises the friction coefficient of wheels of the vehicle and the power system of the vehicle.
Correspondingly, the embodiment of the application also provides a device for determining the driving path of the track, which comprises:
the acquisition module is used for acquiring the description information of the track, the parameter information of the vehicle and the calibration path; the calibration path is a historical driving path of the vehicle on the track, and comprises a calibration point set;
the first determining module is used for determining a candidate point group set according to the description information, the parameter information and the calibration point set;
the second determining module is used for determining a candidate path set according to each candidate point group in the candidate point group set;
and the third determining module is used for determining the driving path of the track from the candidate path set.
Further, the acquisition module includes:
the first acquisition unit is used for acquiring reference driving data corresponding to each calibration point in the calibration point set;
a first determination unit for determining a set of candidate point groups based on the description information, the parameter information and the reference driving data
Further, the reference driving data comprises reference position data, reference speed data and reference course angle corresponding to each calibration point;
a first determination module comprising:
the second determining unit is used for determining a candidate position data set corresponding to each index point, a candidate speed data set corresponding to each candidate position data in the candidate position data set and a candidate course angle set corresponding to each candidate position data according to the description information, the parameter information, the reference position data, the reference speed data and the reference course angle;
and the third determining unit is used for determining a candidate point group set according to each candidate position data, the candidate speed data set corresponding to each candidate position data and the candidate course angle set corresponding to each candidate position data.
Further, the second determining module includes:
the second acquisition unit is used for acquiring reference time information corresponding to the calibration path;
the third acquisition unit is used for acquiring candidate time information corresponding to each candidate path in the candidate path set;
and the fourth determining unit is used for determining the driving path of the track from the candidate paths according to the reference time information and the candidate time information corresponding to each candidate path.
Further, the description information comprises the length of the track, the width of the track, the road adhesion coefficient of the track, the curve radian of the track and the speed limit data of the track;
the parameter information of the vehicle comprises the friction coefficient of wheels of the vehicle and the power system of the vehicle.
Correspondingly, the embodiment of the present application further provides an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or a set of instructions, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the method for determining the driving path of the track.
Accordingly, an embodiment of the present application further provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set, or a set of instructions is stored, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by a processor to implement the method for determining a driving path of a racetrack.
The embodiment of the application has the following beneficial effects:
the method comprises the steps of obtaining description information of a track, parameter information of a vehicle and a calibration path, wherein the calibration path is a historical driving path of the vehicle on the track, the calibration path comprises a calibration point set, a candidate point group set is further determined according to the description information, the parameter information and the calibration point set, a candidate path set is determined according to each candidate point group in the candidate point group set, and then the track driving path is determined from the candidate path set. According to the embodiment of the application, the description information of the track is collected in real time on the track by driving the racing car instead of directly reading data from the data storage library, so that the condition that errors exist between the data in the data storage library and actual data caused by the external environment can be avoided, and the relevant parameters of the track can be accurately mastered. And the candidate path set corresponding to the candidate point group set is determined according to the description information, the parameter information and the calibration point set, and the track driving path is determined from the candidate path set, so that a constructive guidance suggestion can be output to the current training player, the analysis and the driving operation promotion of the driver can be assisted, and the training effect is improved.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for determining a driving path of a track according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a calibration path provided by an embodiment of the present application;
fig. 4 is a schematic flowchart of a method for determining a candidate point group set according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a device for determining a driving path of a track according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An "embodiment" as referred to herein relates to a particular 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 construed as indicating or implying relative importance or implicit indication of the number of technical features indicated. Thus, features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include one or more of the features. Moreover, the terms "first," "second," "third," and "fourth," etc. are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprising," "having," and "being," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Please refer to fig. 1, which is a schematic diagram of an application environment provided in an embodiment of the present application, and includes a vehicle-mounted server 101 and a vehicle-mounted sensing device 103, where the vehicle-mounted server 101 may obtain description information of a track, parameter information of a vehicle, and a calibrated path based on the vehicle-mounted sensing device 103, where the calibrated path is a historical travel path of the vehicle on the track, and the calibrated path includes a set of calibrated points, and further determines a set of candidate point groups according to the description information, the parameter information, and the set of calibrated points, and determines a set of candidate paths according to each candidate point group in the set of candidate point groups, and then determines a track driving path from the set of candidate paths.
In the embodiment of the application, the description information of the track is collected in real time on the track by driving the racing car instead of directly reading data from the data storage library, so that the condition that errors exist between the data in the data storage library and actual data caused by the external environment can be avoided, and the related parameters of the track can be accurately mastered. And the candidate path set corresponding to the candidate point group set is determined according to the description information, the parameter information and the calibration point set, and the track driving path is determined from the candidate path set, so that a constructive guidance suggestion can be output to the current training player, the analysis and the driving operation promotion of the driver can be assisted, and the training effect is improved.
A specific embodiment of a method for determining a driving course of a track according to the present application is described below, and fig. 2 is a schematic flow chart of a method for determining a driving course of a track according to the embodiment of the present application, and the present specification provides the operation steps of the method according to the embodiment or the flow chart, but more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps recited in the embodiments is only one of many possible orders of execution and does not represent the only order of execution, and in actual execution, the steps may be performed sequentially or in parallel as in the embodiments or methods shown in the figures (e.g., in the context of parallel processors or multi-threaded processing). Specifically, as shown in fig. 2, the method includes:
s201: acquiring description information of the track, parameter information of the vehicle and a calibration path; the calibration path is a historical driving path of the vehicle on the track, and the calibration path comprises a calibration point set.
In the embodiment of the application, the processor can receive a starting instruction triggered by a user based on a man-machine interaction interface of the racing car, activate the determining device of the driving path of the racing track, and control the determining device of the driving path of the racing track to be in a working state. In an alternative embodiment, user information may be entered on the vehicle-mounted human-machine interface, such as the name of the current training player, identification card number, passport number, player number, or other information or information indicative of the player's identity.
In the embodiment of the application, when the current training player drives the racing car to run on the track, the description information of the track, such as the length of the track, the width of the track, the road adhesion coefficient of the track, the curve radian of the track, the speed limit data of the track and the like, can be acquired based on the vehicle-mounted sensing equipment, such as the radar and the camera, on the racing car driven by the current training player.
In an alternative embodiment, the current training player may travel multiple rounds on the track, obtaining the length of the track, the width of the track, the road adhesion coefficient of the track, the curve arc of the track, and the speed limit data for the track. By driving the racing car to collect the description information of the track in real time on the track instead of directly reading data from the data storage library, the situation that the data in the data storage library has errors with actual data due to the external environment can be avoided, and the related parameters of the track can be accurately mastered.
In the embodiment of the present application, the processor may obtain parameter information of the vehicle, such as a wheel friction coefficient of the vehicle and a power system of the vehicle, according to a vehicle-mounted sensing device on the racing vehicle, where the power system of the vehicle includes, but is not limited to, a battery level, a motor state, and an electrical system state.
In the embodiment of the application, the current training player can drive the racing car to drive one circle on the track as the calibration path, or drive the racing car to drive multiple circles on the track, select the path with the shortest time consumption as the calibration path, or drive the racing car to drive multiple circles on the track, and select the path which is most suitable for self-operation as the calibration path. The calibration path may include a set of calibration points, and fig. 3 is a schematic diagram of a calibration path provided in this embodiment, where the diagram includes calibration points A, B and C. Wherein index point a may be represented as an entry point, index point B may be represented as an exit point, and index point C may be represented as a departure point. Index point a may also be represented as a deceleration point, index point B may be represented as a steering point, and index point C may be represented as an acceleration point. Specifically, the current training player can perform parameter equipment of the racing car according to the individual driving level and preference, such as selection of a driving mode, setting of the highest speed, setting of the capacity recovery level, setting of the difficulty level of operation and the like. Among them, the higher the difficulty of manipulation the higher the technical requirements on the current training players, the fast response speed, the fast manipulation speed of the steering wheel, the accelerator and the brake pedal are required.
In an optional implementation manner, the track data reconstruction and the vehicle track reproduction may be performed according to the acquired description information of the track, the parameter information of the vehicle, and the calibration path, that is, the description information of the track, the parameter information of the vehicle, and the historical driving path are displayed on the vehicle-mounted human-computer interaction interface, and an animation including the track and the historical driving path may be displayed on the vehicle-mounted human-computer interaction interface. Optionally, a complete physical simulation may be constructed according to the parameter information of the vehicle and stored in the vehicle-mounted server in advance, and then offline simulation is performed in the vehicle-mounted server according to the description information of the detected track to obtain the animation.
S203: and determining a candidate point group set according to the description information, the parameter information and the calibration point set.
In the embodiment of the 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, and further may determine a candidate point group set according to the description information, the parameter information, and the reference driving data. Wherein the reference speed data may include a speed and an acceleration of the vehicle in a first direction, a speed and an acceleration in a second direction, and a speed and an acceleration in a third direction, the first direction, the second direction, and the third direction being perpendicular to each other.
Fig. 4 is a schematic flowchart of a method for determining a candidate point group set according to an embodiment of the present application, and in an alternative implementation, the candidate point group set may be determined by the following steps, specifically the following steps:
s401: and determining a candidate position data set corresponding to each index point, a candidate speed data set corresponding to each candidate position data in the candidate position data set and a candidate course angle set corresponding to each candidate position data according to the description information, the parameter information, the reference position data, the reference speed data and the reference course angle.
In the embodiment of the application, the processor may determine the candidate position data set corresponding to each calibration point according to 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 above-listed examples, the reference driving data corresponding to the index point a, i.e. the reference position data S corresponding to the index point a, can be obtained according to the description information, the parameter information of the vehicleAReference velocity data VAAnd a reference heading angle thetaADetermining a candidate position data set { S corresponding to the calibration point AAiAnd determining each candidate position data SAiCorresponding candidate velocity data set VAiAnd each candidate position data SAiCorresponding set of candidate heading angles [ theta ]Ai}. As shown in fig. 3, point D may represent a candidate position corresponding to index point a, and the candidate position data of point D is the candidate position data corresponding to index point a. Assuming that the reference speed data corresponding to the index point a is 100km/h, the corresponding course angle is 2 °, the candidate speed data corresponding to the point D can be determined to be 95km/h, the corresponding course angle is 2 °, the candidate speed data corresponding to the point D can also be determined to be 105km/h, the corresponding course angle is 1 °, and the driving time of the racing car is reduced as much as possible only on the premise of ensuring the driving safety of the racing car.
S403: and determining 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 course angle set corresponding to each candidate position data.
In the embodiment of the application, the candidate position which consumes the least time based on the corresponding candidate speed data and the corresponding candidate course angle data can be used as the candidate point of the corresponding calibration point, so as to obtain a candidate point group corresponding to the calibration point set.
S205: and determining a candidate path set according to each candidate point group in the candidate point group set.
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 according to the candidate point of each candidate point group in the candidate point group set, so as to obtain a candidate path set.
S207: and determining the driving path of the track from the candidate path set.
In the embodiment of the application, the processor may obtain reference time information corresponding to the calibrated path, that is, time required for driving according to the calibrated path, obtain candidate time information corresponding to each candidate path, that is, time required for driving according to each candidate path, and determine the racetrack driving path from the candidate paths according to the reference time information and the candidate time information corresponding to each candidate path.
In an optional implementation manner, each candidate path may be subjected to dynamic driving simulation through the vehicle-mounted server, and detailed description information and control advice of the track may be output, for example, the length of the track, the width of the track, the road adhesion coefficient of the track, the curve radian of the track, the speed limit data of the track, and the like may be output, and the highest recommended vehicle speed of a straight track, the highest recommended vehicle speed of a curve, candidate position data, candidate speed data, and candidate heading angle corresponding to each candidate point in the candidate point group may also be output, so that the current training player may select a track driving path suitable for the current training player to operate according to the output content. As shown in fig. 3, path 1 is a calibration path, and path 2 is a driving path of the racetrack.
In the embodiment of the application, after the track driving path is determined, the current training players can practice track driving based on the prompt information corresponding to the track driving path, and new control suggestions can be given based on the actual driving route and the vehicle speed information of each circle in the practice process so that the current training players can practice continuously. The vehicle-mounted man-machine interaction system can display control information corresponding to the driving path of the track, such as speed and heading angle at each candidate point, and can also display ranking of multiple exercises and quality analysis reports.
By adopting the method for determining the driving path of the track, provided by the embodiment of the application, the description information of the track is acquired in real time on the track by driving the racing car instead of directly reading data from the data storage library, so that the condition that the data in the data storage library has errors with actual data due to the external environment can be avoided, and the relevant parameters of the track can be accurately mastered. And the candidate path set corresponding to the candidate point group set is determined according to the description information, the parameter information and the calibration point set, and the track driving path is determined from the candidate path set, so that a constructive guidance suggestion can be output to the current training player, the analysis and the driving operation promotion of the driver can be assisted, and the training effect is improved.
Fig. 5 is a schematic structural diagram of the device for determining a driving path of a track according to an embodiment of the present application, and as shown in fig. 5, the device may include:
the obtaining module 501 may be configured to obtain description information of a track, parameter information of a vehicle, and a calibration path; the calibration path is a historical driving path of the vehicle on the track, and comprises a calibration point set;
the first determining module 503 may be configured to determine a candidate point group set according to the description information, the parameter information, and the calibration point set;
the second determining module 505 may be configured to determine a set of candidate paths according to each candidate point group in the set of candidate point groups;
the third determination module 507 may be configured to determine a course driving path from the set of candidate paths.
In this embodiment of the present application, the obtaining module 501 includes:
the first acquisition unit is used for acquiring reference driving data corresponding to each calibration point in the calibration point set;
a first determining unit for determining a candidate point group set according to the description information, the parameter information and the reference travel data
In the embodiment of the application, the reference driving data comprises reference position data, reference speed data and reference course angle corresponding to each calibration point;
the first determining module 503 may include:
the second determining unit is used for determining a candidate position data set corresponding to each index point, a candidate speed data set corresponding to each candidate position data in the candidate position data set and a candidate course angle set corresponding to each candidate position data according to the description information, the parameter information, the reference position data, the reference speed data and the reference course angle;
and the third determining unit is used for determining a candidate point group set according to each candidate position data, the candidate speed data set corresponding to each candidate position data and the candidate course angle set corresponding to each candidate position data.
In this embodiment of the application, the third determining module 507 may include:
the second acquisition unit is used for acquiring reference time information corresponding to the calibration path;
a third obtaining unit, configured to obtain candidate time information corresponding to each candidate path;
and the fourth determining unit is used for determining the driving path of the track from the candidate paths according to the reference time information and the candidate time information corresponding to each candidate path.
In the embodiment of the application, the description information comprises the length of the track, the width of the track, the road adhesion coefficient of the track, the curve radian of the track and the speed limit data of the track;
the parameter information of the vehicle comprises the friction coefficient of wheels of the vehicle and the power system of the vehicle.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
By adopting the device for determining the driving path of the track, provided by the embodiment of the application, the description information of the track is acquired in real time on the track by driving the racing car instead of directly reading data from the data storage library, so that the condition that errors exist between the data in the data storage library and actual data caused by the external environment can be avoided, and the relevant parameters of the track can be accurately mastered. And the candidate path set corresponding to the candidate point group set is determined according to the description information, the parameter information and the calibration point set, and the track driving path is determined from the candidate path set, so that a constructive guidance suggestion can be output to the current training player, the analysis and the driving operation promotion of the driver can be assisted, and the training effect is improved.
The electronic device may be configured in the server to store at least one instruction, at least one program, a code set, or a set of instructions related to a method for determining a driving path of a racetrack in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded from the memory and executed to implement the method for determining a driving path of a racetrack.
The storage medium may be configured in the server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a method for determining a driving path of a racetrack in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the method for determining a driving path of a racetrack.
Optionally, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a storage medium including: various media that can store program codes, such as a usb disk, a Read-only Memory (ROM), a removable hard disk, a magnetic disk, or an optical disk.
As can be seen from the embodiments of the method, the apparatus, the electronic device, or the storage medium for determining a driving path of a track provided by the present application, the method in the present application includes acquiring description information of the track, parameter information of a vehicle, and a calibration path, where the calibration path is a historical driving path of the vehicle on the track, the calibration path includes a set of calibration points, and further determines a set of candidate point groups according to the description information, the parameter information, and the set of calibration points, and determines a set of candidate paths according to each candidate point group in the set of candidate point groups, and then determines the driving path of the track from the set of candidate paths. According to the embodiment of the application, the description information of the track is collected in real time on the track by driving the racing car instead of directly reading data from the data storage library, so that the condition that errors exist between the data in the data storage library and actual data caused by the external environment can be avoided, and the relevant parameters of the track can be accurately mastered. And the candidate path set corresponding to the candidate point group set is determined according to the description information, the parameter information and the calibration point set, and the track driving path is determined from the candidate path set, so that a constructive guidance suggestion can be output to the current training player, the analysis and the driving operation promotion of the driver can be assisted, and the training effect is improved.
In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It should be noted that: the foregoing sequence of the embodiments of the present application is for description only and does not represent the superiority and inferiority of the embodiments, and the specific embodiments are described in the specification, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in the order of execution in different embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or connected to enable the desired results to be achieved, and in some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. Especially, for the embodiment of the device, since it is based on the embodiment similar to the method, the description is simple, and the relevant points can be referred to the partial description of the method embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A method for determining a driving path of a track, comprising:
acquiring description information of the track, parameter information of the vehicle and a calibration path; the calibration path is a historical driving path of the vehicle on the track, and the calibration path comprises a calibration point set;
determining 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;
and determining the driving path of the track from the candidate path set.
2. The method of claim 1, wherein determining a set of candidate point groups based on the description information, the parameter information, and the set of calibration points comprises:
acquiring reference driving data corresponding to each calibration point in the calibration point set;
and determining the candidate point group set according to the description information, the parameter information and the reference driving data.
3. The method of claim 2, wherein the reference travel data comprises reference position data, reference speed data, and reference heading angle corresponding to each of the calibration points;
determining the candidate point group set according to the description information, the parameter information, and the reference travel data, including:
determining 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 course angle set corresponding to each candidate position data according to the description information, the parameter information, the reference position data, the reference speed data and the reference course angle;
and determining 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 course angle set corresponding to each candidate position data.
4. The method of claim 1, wherein determining the racetrack driving path from the set of candidate paths comprises:
acquiring reference time information corresponding to the calibration path;
acquiring candidate time information corresponding to each candidate path in the candidate path set;
and determining the track driving path from the candidate paths according to the reference time information and the candidate time information corresponding to each candidate path.
5. The method of claim 1, wherein the description information includes a length of the track, a width of the track, a road adhesion coefficient of the track, a curve curvature of the track, and speed limit data of the track;
the parameter information of the vehicle comprises a wheel friction coefficient of the vehicle and a power system of the vehicle.
6. A device for determining a driving path of a track, comprising:
the acquisition module is used for acquiring the description information of the track, the parameter information of the vehicle and the calibration path; the calibration path is a historical driving path of the vehicle on the track, and the calibration path comprises a calibration point set;
a first determining module, configured to determine a candidate point group set according to the description information, the parameter information, and the index point set;
a second determining module, configured to determine a candidate path set according to each candidate point group in the candidate point group set;
and the third determining module is used for determining the driving path of the track from the candidate path set.
7. The apparatus of claim 6, wherein the obtaining module comprises:
a first obtaining unit, configured to obtain reference driving data corresponding to each calibration point in the calibration point set;
a first determining unit configured to determine the candidate point group set according to the description information, the parameter information, and the reference travel data.
8. The apparatus of claim 7, wherein the reference driving data comprises 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, according to 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;
and a third determining unit, 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 course angle set corresponding to each candidate position data.
9. An electronic device, comprising a processor and a memory, wherein the memory has stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which are loaded and executed by the processor to implement the method of determining a driving path for a racetrack of any of claims 1-6.
10. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the method of determining a driving path for a racetrack according to any one of claims 1-6.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116522691A (en) * | 2023-07-03 | 2023-08-01 | 石家庄市科恒电子有限公司 | Vehicle simulated running control method, simulated platform display system, equipment and medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116522691A (en) * | 2023-07-03 | 2023-08-01 | 石家庄市科恒电子有限公司 | Vehicle simulated running control method, simulated platform display system, equipment and medium |
| CN116522691B (en) * | 2023-07-03 | 2023-09-05 | 石家庄市科恒电子有限公司 | Vehicle simulated running control method, simulated platform display system, equipment and medium |
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