CN116476864A - Method, device, system, equipment and medium for smoothing vehicle automatic driving reference line - Google Patents
Method, device, system, equipment and medium for smoothing vehicle automatic driving reference line Download PDFInfo
- Publication number
- CN116476864A CN116476864A CN202310446788.8A CN202310446788A CN116476864A CN 116476864 A CN116476864 A CN 116476864A CN 202310446788 A CN202310446788 A CN 202310446788A CN 116476864 A CN116476864 A CN 116476864A
- Authority
- CN
- China
- Prior art keywords
- constraint
- reference line
- point
- determining
- starting point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009499 grossing Methods 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 72
- 238000005457 optimization Methods 0.000 claims description 61
- 238000005259 measurement Methods 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 19
- 238000010606 normalization Methods 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 11
- 238000009795 derivation Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 11
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000004422 calculation algorithm Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The application provides a vehicle automatic driving reference line smoothing method, a device, a system, equipment and a medium, wherein the method comprises the following steps: determining a point to be smoothed in a target reference line, wherein the point to be smoothed comprises a starting point and an end point; determining a first position constraint, a first derivative constraint and a second derivative constraint of the starting point, and determining a second position constraint and a course angle constraint of the end point; smoothing the starting point based on the first position constraint, the first derivative constraint and the second derivative constraint, and smoothing the ending point based on the second position constraint and the heading angle constraint; and acquiring a smoothed target reference line based on the smoothed starting point and the smoothed end point. By the method, curvature change of the point is smoothed by combining the first derivative constraint and the second derivative constraint of the starting point, so that curvature of the smoothed reference line cannot be suddenly changed, and smooth running of the vehicle can be effectively controlled when the reference line is used for path planning.
Description
Technical Field
The embodiment of the application relates to the technical field of automobile driving, in particular to a method, a device, a system, equipment and a medium for smoothing an automatic driving reference line of a vehicle.
Background
In the automatic driving planning algorithm, the smoothness degree of the road reference line is very dependent, if the smoothness degree of the reference line cannot meet the requirement of subsequent track planning.
The current reference line smoothing technology mainly aims at the constraint of point positions and the constraint of course angles, and can ensure that point positions and course angles of points of a reference line in the splicing process are kept continuous to a certain extent, but the curvature of the reference line cannot be ensured to be continuous, so that a good smoothing effect of the reference line cannot be achieved, and further a vehicle control system still generates larger fluctuation when the reference line is used for path planning.
Disclosure of Invention
The embodiment of the application provides a vehicle automatic driving reference line smoothing method, device, system, equipment and medium, so as to at least solve one of the problems.
According to an aspect of an embodiment of the present application, there is provided a vehicle autopilot reference line smoothing method, including:
determining a point to be smoothed in a target reference line, wherein the point to be smoothed comprises a starting point and an end point;
Determining a first position constraint, a first derivative constraint and a second derivative constraint of the starting point, and determining a second position constraint and a course angle constraint of the end point;
smoothing the starting point based on the first position constraint, the first derivative constraint and the second derivative constraint, and smoothing the ending point based on the second position constraint and the heading angle constraint; and acquiring a smoothed target reference line based on the smoothed starting point and the smoothed end point.
In the embodiment of the application, the method can realize the smoothness of the position, the course angle and the curvature of the reference line, the curvature of the smoothed reference line cannot be suddenly changed, and the smooth running of the vehicle can be effectively controlled when the reference line is used for path planning.
In one embodiment, the determining the point to be smoothed in the reference line includes:
acquiring a first measurement data frame at the current moment and a second measurement data frame at the last moment;
and determining a reference line which is overlapped in a first reference line corresponding to the first measurement data frame and a second reference line corresponding to the second measurement data frame as a target reference line, and determining a starting point and an end point of the target reference line as points to be smoothed of the target reference line.
In the embodiment of the application, the point to be smoothed in the reference line can be rapidly determined by adopting the method, so that the smoothing efficiency of the target reference line is improved.
In one embodiment, the determining the first position constraint, the first derivative constraint, and the second derivative constraint of the starting point includes:
determining a first transverse coordinate constraint of the starting point according to the transverse coordinate position information of the starting point, a plurality of first optimization coefficients related to the transverse coordinate of the starting point and initial journey information;
determining a first ordinate constraint of the starting point according to the ordinate position information of the starting point, a plurality of second optimization coefficients related to the ordinate of the starting point and the initial journey information;
determining a first position constraint of the starting point according to the first abscissa constraint and the first ordinate constraint, and determining a first derivative constraint and a second derivative constraint of the starting point according to the first position constraint;
and/or the number of the groups of groups,
the determining the second position constraint and the heading angle constraint of the endpoint includes:
determining a second abscissa constraint of the destination according to the abscissa position information of the destination, a plurality of third optimization coefficients about the abscissa of the destination, and a distance between the destination and initial journey information;
Determining a second ordinate constraint of the endpoint based on the ordinate position information of the endpoint, a number of fourth optimization coefficients relating to the ordinate of the endpoint, and a distance between the endpoint and initial range information;
determining a second position constraint of the terminal point according to the second abscissa constraint and the second ordinate constraint, deriving the second position constraint, and determining a course angle constraint of the terminal point according to a derivation result of the second position constraint and a sine value corresponding to the terminal point.
In the embodiment of the application, the position constraint, the course angle constraint and the multi-order derivative constraint can be determined efficiently by adopting the method, so that the smoothing efficiency of the reference line is further improved.
In one embodiment, the determining the first lateral coordinate constraint of the starting point includes: constructing a first N-degree polynomial about the initial journey information according to the abscissa position information of the starting point, a plurality of first optimization coefficients about the abscissa of the starting point and the initial journey information, and determining a first abscissa constraint of the starting point according to the first N-degree polynomial;
the determining a first ordinate constraint for the starting point includes: constructing a second N-degree polynomial about the initial journey information according to the ordinate position information of the starting point, a plurality of second optimization coefficients about the ordinate of the starting point and the initial journey information, and determining a first ordinate constraint of the starting point according to the second N-degree polynomial;
And/or the number of the groups of groups,
the determining a second abscissa constraint of the endpoint includes: constructing a third N-degree polynomial on the distance between the destination and the initial journey information according to the abscissa position information of the destination, a plurality of third optimization coefficients on the abscissa of the destination and the distance between the destination and the initial journey information, and determining a second abscissa constraint of the destination according to the third N-degree polynomial;
the determining a second ordinate constraint of the endpoint comprises: and constructing a fourth N-degree polynomial about the distance according to the ordinate position information of the terminal point, a plurality of fourth optimization coefficients about the ordinate of the terminal point and the distance between the terminal point and the initial journey information, and determining a second ordinate constraint of the terminal point according to the fourth N-degree polynomial.
In this embodiment, by adopting the method, a polynomial can be used for fitting to determine various constraints, so that the smoothing result is smoother, and the smoothing effect of the reference line is further improved.
In one embodiment, the method further comprises:
respectively normalizing the initial distance information and the distance between the end point and the initial distance information according to a preset normalization coefficient, wherein the preset normalization coefficient is determined according to the initial distance information or the total length of the distance and the target reference line;
And respectively determining a first transverse coordinate constraint and a first longitudinal coordinate constraint of the starting point according to the normalized initial distance information, and respectively determining a second transverse coordinate constraint and a second coordinate constraint of the end point according to the normalized distance.
In this embodiment, the method can effectively reduce the operation amount, so as to improve the smoothing efficiency of the reference line.
In one embodiment, the method further comprises:
and generating a planned path based on the smoothed target reference line, and sending the planned path to a target control device so that the target control device controls the automatic driving vehicle to run based on the planned path.
In this embodiment, by adopting the method, when the control device uses the reference line to perform path planning, the stability of vehicle running can be effectively controlled.
According to a second aspect of the embodiments of the present application, there is provided a vehicle autopilot reference line smoothing apparatus, including:
a point to be smoothed determining module configured to determine a point to be smoothed in a target reference line, the point to be smoothed including a start point and an end point;
a constraint determination module configured to determine a first position constraint, a first derivative constraint, and a second derivative constraint for the starting point, and a second position constraint and a heading angle constraint for the ending point;
A smoothing module configured to smooth the starting point based on the first position constraint, the first derivative constraint, and the second derivative constraint, and to smooth the ending point based on the second position constraint and the heading angle constraint; and acquiring a smoothed target reference line based on the smoothed starting point and the smoothed end point.
In an embodiment, the vehicle autopilot reference line smoothing device may be used to perform any one of the possible implementations of the first aspect described above.
According to a third aspect of embodiments of the present application, there is provided an autopilot system comprising a planning apparatus and a control apparatus:
the planning device is used for acquiring a smoothed target reference line according to the vehicle automatic driving reference line smoothing method and generating a planning path according to the smoothed target reference line;
the control device is used for receiving the planned path and controlling the automatic driving vehicle to run based on the planned path.
In an embodiment, the planning apparatus may be configured to perform any one of the possible implementations of the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided an electronic device, including: the system comprises a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the vehicle automatic driving reference line smoothing method.
According to a fifth aspect of embodiments of the present application, there is provided a computer-readable storage medium including a computer program for implementing the vehicle autopilot reference line smoothing method.
According to a sixth aspect of embodiments of the present application, there is provided a computer program product comprising a computer program which, when executed by a processor, is said method of vehicle autopilot reference line smoothing.
According to a seventh aspect of the embodiments of the present application, there is provided a chip, including a memory for storing a computer program, and a processor for calling and running the computer program from the memory, and executing the vehicle autopilot reference line smoothing method.
According to the vehicle automatic driving reference line smoothing method, device, system, equipment and medium, a point to be smoothed in a target reference line is determined, the point to be smoothed comprises a starting point and a terminal point, a first position constraint, a first derivative constraint and a second derivative constraint of the starting point are determined, a second position constraint and a course angle constraint of the terminal point are determined, then the starting point is smoothed based on the first position constraint, the first derivative constraint and the second derivative constraint, the terminal point is smoothed based on the second position constraint and the course angle constraint, and finally the smoothed target reference line is obtained based on the smoothed starting point and the smoothed terminal point. In the process, the position constraint, the first derivative constraint and the second derivative constraint of the starting point are selected, the position constraint and the course angle constraint of the end point smooth the reference line, compared with the related art, the point position and the course angle are smoothed, and meanwhile the curvature change of the point is smoothed, so that the curvature of the smoothed reference line cannot be suddenly changed, and the smooth running of the vehicle can be effectively controlled when the reference line is used for path planning.
Drawings
FIG. 1a is a schematic diagram of a possible frame of a vehicle autopilot reference line smoothing method according to an embodiment of the present application;
FIG. 1b is a graph showing the curvature change of a reference line after smoothing in the related art;
fig. 2 is a schematic flow chart of a method for smoothing an automatic driving reference line of a vehicle according to an embodiment of the present application;
fig. 3 is a schematic flow chart of another method for smoothing an automatic driving reference line of a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic diagram of curvature change after reference line smoothing on a main curve in an embodiment of the present application;
FIG. 5 is a diagram showing curvature change after reference line smoothing for a main curve in the related art;
fig. 6 is a schematic structural diagram of a smoothing device for an automatic driving reference line of a vehicle according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an autopilot system according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals refer to the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present application. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Fig. 1a is a schematic diagram of a possible framework provided by the embodiment of the present application, as shown in fig. 1a, an autopilot system includes modules for data sensing, positioning, map processing, and the like, for providing information such as dynamic obstacle states, maps, positioning, and the like for a decision module, the decision module is used for providing decision actions such as following a vehicle, changing a road, and the like for a planning module, the planning module generates a planning track, and a control module is used for controlling a vehicle to track the planning track.
In the planning module, a reference line sent by the decision module needs to be smoothed by using a reference line smoothing algorithm, so that the control module can track the reference line more stably, and stable running of the vehicle is realized.
It will be appreciated that the smoothing of the reference line is primarily required to make the position, heading angle, curvature, etc. of points on the reference line continuous, so as to control the vehicle to track the planned trajectory with a relatively gentle acceleration (lateral acceleration or longitudinal acceleration).
In the related art, for a reference line smoothing algorithm of a planning module, a parameterized polynomial is generally adopted as a way of fitting a path to a reference line, and description of points on the reference line is as follows:
x＝a 0 +a 1 s+a 2 s 2 +a 3 s 3 +a 4 s 4 +a 5 s 5 (1)
y＝b 0 +b 1 s+b 2 s 2 +b 3 s 3 +b 4 s 4 +b 5 s 5 (2)
wherein x and y respectively represent an abscissa position and an ordinate position of a certain point, a 0 -a 5 Optimization parameters, b, respectively corresponding to the abscissa 0 -b 5 And s represents the path information between a certain point on the reference line and the starting point, and in the smoothing process of the reference line, the smoothing result of the previous frame needs to be spliced with the smoothing of the current frame, so that the smoothing problem of the splicing point is related.
More examples are splice points using position constraints and heading angle constraints, which, in one implementation, are described below if the position constraints and heading angle constraints of the start point and end point are chosen:
taking the reference line as 1 segment as an example, i.e. corresponding to the above formula, a total of 12 optimization variables (i.e. a 0 -a 5 、b 0 -b 5 ) The equations are constrained to be at least 6 (i.e., equations (3) - (8) above). Similarly, if the reference line is 2 segments, the optimization variables contain 24.
Wherein x is 0 Is the abscissa position constraint of the starting point, y 0 Is the ordinate position constraint of the starting point, s 0 For initial journey information, x t Is the abscissa position constraint of the end point, y t Is the ordinate position constraint of the endpoint,first derivative of the abscissa position constraint for the starting point, +.>First derivative, θ, of the ordinate position constraint for the starting point 0 Heading angle sin theta as starting point 0 Sine value representing the heading angle of the starting point, +. >First derivative of the constraint for the position of the end point abscissa, +.>First derivative, θ, of the ordinate position constraint for the endpoint t Heading angle sin theta as end point t Is the sine value of the end heading angle.
In the above smoothing algorithm, the position continuity and heading angle continuity of the splice points can be obtained relatively easily to a certain extent, but since the smoothing of the curvature in the reference line is not involved, it is generally difficult to ensure the curvature continuity between the splice points, specifically, the smoothing algorithm smoothes the reference line, the smoothing result is shown in fig. 1b, the abscissa indicates the number of points, the difference between the two points is 0.02s, and the ordinate indicates the curvature of the reference line at the point. As can be seen, at each splice point, there is a substantial abrupt change in curvature.
Applicants have combined with a theoretical calculation formula of curvature during the course of studying curvature changes during reference line smoothingIn (1) the->The first and second derivatives of the function y, respectively, k representing the curvature. In order to prevent the curvature between the splice points from generating abrupt change, i.e. to restrict the curvature between the splice points to be the same, both the first derivative and the second derivative between the splice points need to be the same according to the curvature change formula.
In view of this, an embodiment of the present application provides a vehicle autopilot reference line smoothing method, by first determining a point to be smoothed in a target reference line, where the point to be smoothed includes a start point and an end point, determining a first position constraint, a first derivative constraint, and a second derivative constraint of the start point, and a second position constraint and a heading angle constraint of the end point, then smoothing the start point based on the first position constraint, the first derivative constraint, and the second derivative constraint, smoothing the end point based on the second position constraint, and the heading angle constraint, and finally obtaining a smoothed target reference line based on the smoothed start point and the smoothed end point. In the process, the position constraint, the first derivative constraint and the second derivative constraint of the starting point are selected, the position constraint and the course angle constraint of the end point smooth the reference line, and compared with the related art, the method has the advantages that the point position and the course angle are smoothed, meanwhile, the curvature change of the point is smoothed, the curvature of the smoothed reference line is free from abrupt change, and the smooth running of the vehicle can be effectively controlled when the reference line is used for path planning.
The scenario schematic diagram of the present application is briefly described above, and the following uses an execution subject server as an example to describe in detail the vehicle autopilot reference line smoothing method provided in the embodiment of the present application.
Referring to fig. 2, fig. 2 is a flowchart of a vehicle autopilot reference line smoothing method according to an embodiment of the present application, including steps S201-S204.
Step S201, determining a point to be smoothed in a target reference line, where the point to be smoothed includes a start point and an end point.
It will be appreciated that the target reference line in this embodiment is a road reference line that the vehicle may use for navigation. If the reference line is directly derived from the original lane center line of the high-precision map, the smoothness of the reference line cannot meet the requirement of subsequent track planning due to the reasons of manufacturing errors of the map, unsmooth road connection and the like, and the vehicle control can be more stable through the smooth reference line.
In this embodiment, by determining the point to be smoothed of the reference line first and smoothing the point to be smoothed, compared with smoothing all the discrete points on the reference line, targeted smoothing of the point to be smoothed can be achieved, and smoothing efficiency of the reference line is improved to some extent.
In one implementation, considering that the reference line performs a complete smoothing process in each measurement data frame (for example, the measurement data frame of the central line of the road collected by the sensing module), the smoothing result of each frame is the reference line between the position of the vehicle in front of the frame by a distance, for example, 400m (the parameter may be set), and in two consecutive measurement data frames, there is an overlapping portion of the reference line, and it is required to ensure that the calculation results of the two frames are consistent. Therefore, the present embodiment determines a splicing point between reference lines corresponding to two frames of measurement data frames as a point to be smoothed, specifically, determining a point to be smoothed in a reference line in step S201 of the present embodiment may include the following steps:
Acquiring a first measurement data frame at the current moment and a second measurement data frame at the last moment;
and determining a reference line which is overlapped in a first reference line corresponding to the first measurement data frame and a second reference line corresponding to the second measurement data frame as a target reference line, and determining a starting point and an end point of the target reference line as points to be smoothed of the target reference line.
In the automatic driving process of the vehicle, the sensor continuously collects measurement data, namely, road center line data, and sends the data to the downstream decision module and the planning module so as to plan a path, and for a part which is overlapped between reference lines in the measurement data of two continuous frames, the overlapped part needs to ensure that the calculation results of the two frames are consistent, namely, a smooth reference line part needs to be carried out.
In this embodiment, the starting point and the end point of the target reference line, that is, the splicing point of two continuous frames of measurement data corresponding to the reference line, are determined as the points to be smoothed, so that the smoothing efficiency can be improved. Specifically, the target reference line is the overlapping portion of the previous frame reference line (i.e., the second reference line) and the current frame reference line (i.e., the first reference line), wherein the starting point is the splicing end point of the previous frame reference line, the splicing start point of the current frame reference line is the splicing end point of the current frame reference line, and the end point is the splicing end point of the current frame reference line.
By the method for determining the target reference line, the point to be smoothed in the reference line can be determined rapidly, and then the point to be smoothed is smoothed, so that the smoothing efficiency of the target reference line is improved effectively.
Step S202, determining a first position constraint, a first derivative constraint and a second derivative constraint of the starting point, and determining a second position constraint and a course angle constraint of the end point.
In this embodiment, besides the position constraint and the course angle constraint on the splice point, the curvature smoothness of the target reference line is realized by performing the first derivative constraint and the second derivative constraint on the starting point, so as to maintain the curvature continuity between the reference lines.
In one embodiment, the determining the splice point position constraint, the first-order/second-order derivative constraint, and the heading angle constraint in combination with the utm coordinates and the corresponding range information of the splice point in step S202 may include the following steps:
determining a first transverse coordinate constraint of the starting point according to the transverse coordinate position information of the starting point, a plurality of first optimization coefficients related to the transverse coordinate of the starting point and initial journey information;
Determining a first ordinate constraint of the starting point according to the ordinate position information of the starting point, a plurality of second optimization coefficients related to the ordinate of the starting point and the initial journey information;
determining a first position constraint of the starting point according to the first abscissa constraint and the first ordinate constraint, and determining a first derivative constraint and a second derivative constraint of the starting point according to the first position constraint.
It will be appreciated that the range corresponding to the starting point is the initial range information, and this value may be obtained from the measurement data frame. The first optimization coefficients may be one or more optimization coefficients, and if the first optimization coefficients are a plurality of optimization coefficients, the optimization coefficients may take different values. The determination of the values of the first optimization coefficients may be performed according to an optimization objective of reference line smoothing, for example, in a straight road and a curve, because the optimization objectives of the two generally differ, and the values of the first optimization coefficients are generally different values.
It should be noted that, a person skilled in the art may adaptively set the first optimization coefficient according to practical applications, and the second optimization coefficient, the third optimization coefficient and the fourth optimization coefficient are the same as described below. In addition, the first optimization coefficient, the second optimization coefficient, the third optimization coefficient, and the fourth optimization coefficient in this embodiment are only for distinguishing similar objects, and have no other meaning, and may be the same content or different content, and are not specifically limited herein.
In this embodiment, to further improve the smoothing effect, the determining the first lateral coordinate constraint of the starting point in the above step may include the following steps: constructing a first N-degree polynomial about the initial journey information according to the abscissa position information of the starting point, a plurality of first optimization coefficients about the abscissa of the starting point and the initial journey information, and determining a first abscissa constraint of the starting point according to the first N-degree polynomial;
the determining the first ordinate constraint of the starting point in the above step may include the following steps: and constructing a second N-degree polynomial about the initial journey information according to the ordinate position information of the starting point, a plurality of second optimization coefficients about the ordinate of the starting point and the initial journey information, and determining a first ordinate constraint of the starting point according to the second N-degree polynomial.
Specifically, the first nth order polynomial and the second nth order polynomial respectively adopt a fifth order polynomial, and the longitudinal acceleration control can be changed smoothly by curve fitting of the fifth order polynomial, wherein the first abscissa constraint and the first ordinate constraint respectively satisfy the following formulas, and in this embodiment, the following formulas are position constraints corresponding to the starting points:
Wherein x is 0 Abscissa position information, a, representing the starting point 0 -a 5 Respectively represent a plurality of first optimization coefficients s 0 Representing initial journey information, y 0 Ordinate information, b, representing the starting point 0 -b 5 Respectively representing a number of second optimization coefficients.
Further, the position constraint performed by the first N-degree polynomial and the second N-degree polynomial is combined to determine a corresponding first derivative constraint and a second derivative constraint, wherein the first derivative constraint and the second derivative constraint respectively satisfy the following formulas:
it will be appreciated that the number of components,the corresponding formula represents the first derivative (including the abscissa first derivative constraint and the ordinate first derivative constraint) of the starting point,>the corresponding formulas represent the second derivatives of the starting points (including the abscissa second derivative constraint and the ordinate second derivative constraint).
Further, determining the second position constraint and the heading angle constraint of the endpoint in step S202 may include the steps of:
determining a second abscissa constraint of the destination according to the abscissa position information of the destination, a plurality of third optimization coefficients about the abscissa of the destination, and a distance between the destination and initial journey information;
determining a second ordinate constraint of the endpoint based on the ordinate position information of the endpoint, a number of fourth optimization coefficients relating to the ordinate of the endpoint, and a distance between the endpoint and initial range information;
Determining a second position constraint of the terminal point according to the second abscissa constraint and the second ordinate constraint, deriving the second position constraint, and determining a course angle constraint of the terminal point according to a derivation result of the second position constraint and a sine value corresponding to the terminal point.
It will be appreciated that the distance between the end point and the initial path information, i.e. the distance between the end point and the corresponding path information of the start point, i.e. the distance accumulated to be travelled by the vehicle from the initial point of the reference line.
Determining the second abscissa constraint of the endpoint in the above step may include the steps of: constructing a third N-degree polynomial on the distance between the destination and the initial journey information according to the abscissa position information of the destination, a plurality of third optimization coefficients on the abscissa of the destination and the distance between the destination and the initial journey information, and determining a second abscissa constraint of the destination according to the third N-degree polynomial;
determining the second ordinate constraint of the endpoint in the above step may include the steps of: and constructing a fourth N-degree polynomial about the distance according to the ordinate position information of the terminal point, a plurality of fourth optimization coefficients about the ordinate of the terminal point and the distance between the terminal point and the initial journey information, and determining a second ordinate constraint of the terminal point according to the fourth N-degree polynomial.
Specifically, the third nth order polynomial and the fourth nth order polynomial are fifth order polynomials, which satisfy the following formulas:
further, the heading angle constraint of the endpoint satisfies the following formula:
wherein x is t Abscissa position information indicating endpoint, y t Ordinate position information s representing the end point t Indicating the distance between the end point and the initial journey information, a 0 -a 5 Representing a number of third optimization coefficients, b 0 -b 5 Representing a plurality of fourth optimization coefficients, θ t Heading angle, sin theta, representing endpoint t A sine value representing the endpoint. It should be noted that, in this embodiment, the target reference line takes one segment as an example, the third optimization coefficient is the same as the first optimization coefficient, the second optimization coefficient is the same as the fourth optimization coefficient, and in some embodiments, if the target reference line is multiple segments, the optimization coefficients of different segments may be different.
In the above process of the embodiment, the polynomial is used for fitting to determine the corresponding various constraints, so that the smoothing result is more stable, and the smoothing effect of the reference line is further improved.
Step S203, smoothing the starting point based on the first position constraint, the first derivative constraint and the second derivative constraint, and smoothing the ending point based on the second position constraint and the heading angle constraint.
In this embodiment, the smoothing of the start point and the end point is exemplified by the above formula, and the position constraint of the start point, that is, x=x0, y=y0 when the initial path s=s0 of the start point, the first derivative constraint of the start point and the second derivative, that is, when the initial path s=s0 of the start point, the position constraint of the end point is that when the distance between the end point and the starting point is s=st, x=xt, y=yt; heading angle constraint of the endpoint, i.e. when the endpoint x=xt, y=yt, θ=θ t 。
Step S204, a smoothed target reference line is obtained based on the smoothed starting point and the smoothed end point.
In the embodiment of the application, the method can realize the smoothness of the position, the course angle and the curvature of the reference line, the curvature of the smoothed reference line cannot be suddenly changed, and the smooth running of the vehicle can be effectively controlled when the reference line is used for path planning.
In one embodiment, considering that the larger the value of the range information is, the larger the error will be in the reference line smoothing algorithm, especially when the calculation is performed by using a plurality of polynomials, the calculation amount is larger, and the larger error is easy to be generated, and the embodiment normalizes the corresponding range information first, specifically, the method further includes:
Respectively normalizing the initial distance information and the distance between the end point and the initial distance information according to a preset normalization coefficient, wherein the preset normalization coefficient is determined according to the initial distance information or the total length of the distance and the target reference line;
and respectively determining a first transverse coordinate constraint and a first longitudinal coordinate constraint of the starting point according to the normalized initial distance information, and respectively determining a second transverse coordinate constraint and a second coordinate constraint of the end point according to the normalized distance.
In this embodiment, the reference line smoothing uses a piecewise five-time polynomial, and after normalization, when performing function programming, the path information of each piece of polynomial can be treated as 1, so that the difficulty of function programming is greatly reduced, otherwise, if one piece of path information needs to be added as a function parameter, and if the path information is too large, the calculation error will also become large.
The present embodiment uses s in two consecutive frames t The normalization process is an example. For the first and second derivatives, since the path s field of the point on the path of the reference line is normalized during smoothing, the calculation method of the first and second derivatives of the previous and subsequent frames when the concatenation is performed needs to be analyzed to ensure that they are identical in utm coordinate system and before normalization.
In the last frame, the calculated point x t And y t S at the position is s t Normalized to s 1 The coordinates are as follows:
in the next frame, the calculated point x t And y t S at the position is s t Normalized to s 2 The coordinates are as follows:
order theWherein scale represents a normalization coefficient, length represents the total length of the target reference line, and num_spline represents s t The corresponding distances are as follows:
thereby:
in the method, in the process of the invention,represents x t For s t First derivative of>Represents x t For s t Second derivative of>Representing y t For s t First derivative of>Representing y t For s t Is a second derivative of (c).
In this embodiment, when first and second derivative constraints are performed, it should be written as:
in the formula, scale 0 Scale as normalized coefficient of starting point 1 、scale 2 S are respectively t Normalized coefficients of the corresponding distances.
In this embodiment, the normalization method can effectively reduce the operation amount, so as to improve the smoothing efficiency of the reference line.
Referring to fig. 3, fig. 3 is a flowchart of another vehicle automatic driving reference line smoothing method provided in the embodiment of the present application, where, based on the above embodiment, after generating a smoothed target reference line, the smoothed target reference line is sent to a downstream control device to implement smooth driving of a vehicle, and specifically, after step S204, the method further includes step S301.
Step S301, a planned path is generated based on the smoothed target reference line, and the planned path is sent to a target control device, so that the target control device controls the autonomous vehicle to run based on the planned path.
In this embodiment, by adopting the method, when the control device uses the reference line to perform path planning, the stability of vehicle running can be effectively controlled.
To verify the advantages of this embodiment over the smoothing method of the related art, the planned trajectory curvature curves on the highway are compared by real vehicle debugging. As shown in fig. 4 and 5, wherein fig. 4 is a curvature curve employing the constrained 1 st order and 2 nd order guides of the present embodiment in a main road curve, and fig. 5 is a curvature curve employing only the constrained heading angle in a main road curve in the related art. Obviously, the curvature in fig. 4 is more stable with almost no abrupt change in curvature, while in fig. 5 more abrupt points occur.
Referring to fig. 6, fig. 6 is a vehicle autopilot reference line smoothing device provided in an embodiment of the present application, as shown in fig. 6, including a point to be smoothed determining module 61, a constraint determining module 62, and a smoothing module 63, where,
a point to be smoothed determination module 61 configured to determine a point to be smoothed in a target reference line, the point to be smoothed including a start point and an end point;
A constraint determination module 62 configured to determine a first position constraint, a first derivative constraint, and a second derivative constraint for the starting point, and a second position constraint and a heading angle constraint for the ending point;
a smoothing module 63 configured to smooth the starting point based on the first position constraint, the first derivative constraint, and the second derivative constraint, and to smooth the ending point based on the second position constraint and the heading angle constraint; and acquiring a smoothed target reference line based on the smoothed starting point and the smoothed end point.
In an embodiment, the vehicle autopilot reference line smoothing device may be used to perform any one of the possible implementations of the first aspect described above.
In one embodiment, the to-be-smoothed point determining module 61 includes:
an acquisition unit configured to acquire a first measurement data frame at a current time and a second measurement data frame at a previous time;
and a determining unit configured to determine a reference line overlapping with a first reference line corresponding to the first measurement data frame and a second reference line corresponding to the second measurement data frame as a target reference line, and determine a start point and an end point of the target reference line as points to be smoothed of the target reference line.
In one embodiment, the constraint determination module 62 includes:
a first abscissa constraint unit configured to determine a first abscissa constraint of the start point according to abscissa position information of the start point, a number of first optimization coefficients regarding an abscissa of the start point, and initial course information;
a first ordinate constraint unit arranged to determine a first ordinate constraint of the start point based on ordinate position information of the start point, a number of second optimization coefficients on an ordinate of the start point, and the initial range information;
a first constraint determination unit configured to determine a first position constraint of the starting point according to the first abscissa constraint and the first ordinate constraint, and to determine a first derivative constraint and a second derivative constraint of the starting point according to the first position constraint;
and/or the number of the groups of groups,
the constraint determination module 62 includes:
a second abscissa constraint unit configured to determine a second abscissa constraint of the end point according to the abscissa position information of the end point, a number of third optimization coefficients regarding the abscissa of the end point, and a distance between the end point and initial course information;
A second ordinate constraint unit arranged to determine a second ordinate constraint of the end point based on the ordinate position information of the end point, a number of fourth optimization coefficients on the ordinate of the end point, and a distance between the end point and initial range information;
the second constraint determining unit is configured to determine a second position constraint of the endpoint according to the second abscissa constraint and the second ordinate constraint, conduct derivation on the second position constraint, and determine a course angle constraint of the endpoint according to a derivation result of the second position constraint and a sine value corresponding to the endpoint.
In one embodiment, the first transverse coordinate constraint unit is specifically configured to construct a first nth order polynomial on the initial range information according to the transverse coordinate position information of the starting point, a plurality of first optimization coefficients on the transverse coordinate of the starting point and the initial range information, and determine a first transverse coordinate constraint of the starting point according to the first nth order polynomial;
the first ordinate constraint unit is specifically configured to construct a second nth order polynomial about the initial path information according to ordinate position information of the starting point, a plurality of second optimization coefficients about an ordinate of the starting point, and the initial path information, and determine a first ordinate constraint of the starting point according to the second nth order polynomial;
And/or the number of the groups of groups,
the second abscissa constraint unit is specifically configured to construct a third N-degree polynomial about the distance according to the abscissa position information of the end point, a plurality of third optimization coefficients about the abscissa of the end point, and the distance between the end point and the initial path information, and determine a second abscissa constraint of the end point according to the third N-degree polynomial;
the second ordinate constraint unit is specifically configured to construct a fourth nth order polynomial on the distance between the destination and the initial path information according to the ordinate position information of the destination, a plurality of fourth optimization coefficients on the ordinate of the destination, and the distance, and determine a second ordinate constraint of the destination according to the fourth nth order polynomial.
In one embodiment, the apparatus further comprises:
the normalization module is used for respectively normalizing the initial distance information and the distance between the end point and the initial distance information according to a preset normalization coefficient, and the preset normalization coefficient is determined according to the initial distance information or the total length of the distance and the target reference line; and respectively determining a first transverse coordinate constraint and a first longitudinal coordinate constraint of the starting point according to the normalized initial distance information, and respectively determining a second transverse coordinate constraint and a second coordinate constraint of the end point according to the normalized distance.
In one embodiment, the apparatus further comprises:
and the generation module is used for generating a planned path based on the smoothed target reference line and sending the planned path to a target control device so that the target control device controls the automatic driving vehicle to run based on the planned path.
Referring to fig. 7, fig. 7 is a schematic diagram of an autopilot system according to an embodiment of the present application, including a planning device 71 and a control device 72:
the planning device 71 is configured to obtain a smoothed target reference line according to the vehicle autopilot reference line smoothing method, and generate a planned path according to the smoothed target reference line;
the control device 72 is configured to receive the planned path and control the autonomous vehicle to travel based on the planned path.
In an implementation manner, the planning apparatus may be used to execute any one of possible implementation manners of the foregoing method embodiments, and the relevant description may be understood corresponding to relevant descriptions and effects corresponding to steps in the method embodiments, which are not repeated herein.
The embodiment of the application correspondingly further provides an electronic device, as shown in fig. 8, including: the system comprises a memory 81, a processor 82 and a computer program, wherein the computer program is stored in the memory 81, and the processor 82 runs the computer program to execute the vehicle automatic driving reference line smoothing method.
The relevant descriptions and effects corresponding to the steps in the method embodiment can be understood, and are not repeated here.
The embodiment of the application correspondingly provides a computer readable storage medium, which comprises a computer program for realizing the vehicle automatic driving reference line smoothing method.
The relevant descriptions and effects corresponding to the steps in the method embodiment can be understood, and are not repeated here.
Embodiments of the present application accordingly also provide a computer program product comprising a computer program which, when executed by a processor, is said to provide a method of vehicle autopilot reference line smoothing.
The relevant descriptions and effects corresponding to the steps in the method embodiment can be understood, and are not repeated here.
The embodiment of the application correspondingly provides a chip which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for calling and running the computer program from the memory and executing the vehicle automatic driving reference line smoothing method.
The relevant descriptions and effects corresponding to the steps in the method embodiment can be understood, and are not repeated here.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media).
The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer.
Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
In the description of the embodiments of the present application, the term "and/or" merely represents an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" means any combination of any one or at least two of the plurality, e.g., including at least one of A, B, may mean any one or more elements selected from the set consisting of A, B and C communication.
In the description of embodiments of the present application, the terms "first," "second," "third," "fourth," and the like (if any) are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for smoothing an automatic driving reference line of a vehicle, comprising:
determining a point to be smoothed in a target reference line, wherein the point to be smoothed comprises a starting point and an end point;
determining a first position constraint, a first derivative constraint and a second derivative constraint of the starting point, and determining a second position constraint and a course angle constraint of the end point;
smoothing the starting point based on the first position constraint, the first derivative constraint and the second derivative constraint, and smoothing the ending point based on the second position constraint and the heading angle constraint; and acquiring a smoothed target reference line based on the smoothed starting point and the smoothed end point.
2. The method of claim 1, wherein the determining the point to be smoothed in the reference line comprises:
acquiring a first measurement data frame at the current moment and a second measurement data frame at the last moment;
and determining a reference line which is overlapped in a first reference line corresponding to the first measurement data frame and a second reference line corresponding to the second measurement data frame as a target reference line, and determining a starting point and an end point of the target reference line as points to be smoothed of the target reference line.
3. The method according to claim 1 or 2, wherein said determining a first position constraint, a first derivative constraint and a second derivative constraint of said starting point comprises:
determining a first transverse coordinate constraint of the starting point according to the transverse coordinate position information of the starting point, a plurality of first optimization coefficients related to the transverse coordinate of the starting point and initial journey information;
determining a first ordinate constraint of the starting point according to the ordinate position information of the starting point, a plurality of second optimization coefficients related to the ordinate of the starting point and the initial journey information;
determining a first position constraint of the starting point according to the first abscissa constraint and the first ordinate constraint, and determining a first derivative constraint and a second derivative constraint of the starting point according to the first position constraint;
And/or the number of the groups of groups,
the determining the second position constraint and the heading angle constraint of the endpoint includes:
determining a second abscissa constraint of the destination according to the abscissa position information of the destination, a plurality of third optimization coefficients about the abscissa of the destination, and a distance between the destination and initial journey information;
determining a second ordinate constraint of the endpoint based on the ordinate position information of the endpoint, a number of fourth optimization coefficients relating to the ordinate of the endpoint, and a distance between the endpoint and initial range information;
determining a second position constraint of the terminal point according to the second abscissa constraint and the second ordinate constraint, deriving the second position constraint, and determining a course angle constraint of the terminal point according to a derivation result of the second position constraint and a sine value corresponding to the terminal point.
4. A method according to claim 3, wherein said determining a first lateral coordinate constraint of said starting point comprises: constructing a first N-degree polynomial about the initial journey information according to the abscissa position information of the starting point, a plurality of first optimization coefficients about the abscissa of the starting point and the initial journey information, and determining a first abscissa constraint of the starting point according to the first N-degree polynomial;
The determining a first ordinate constraint for the starting point includes: constructing a second N-degree polynomial about the initial journey information according to the ordinate position information of the starting point, a plurality of second optimization coefficients about the ordinate of the starting point and the initial journey information, and determining a first ordinate constraint of the starting point according to the second N-degree polynomial;
and/or the number of the groups of groups,
the determining a second abscissa constraint of the endpoint includes: constructing a third N-degree polynomial on the distance between the destination and the initial journey information according to the abscissa position information of the destination, a plurality of third optimization coefficients on the abscissa of the destination and the distance between the destination and the initial journey information, and determining a second abscissa constraint of the destination according to the third N-degree polynomial;
the determining a second ordinate constraint of the endpoint comprises: and constructing a fourth N-degree polynomial about the distance according to the ordinate position information of the terminal point, a plurality of fourth optimization coefficients about the ordinate of the terminal point and the distance between the terminal point and the initial journey information, and determining a second ordinate constraint of the terminal point according to the fourth N-degree polynomial.
5. A method according to claim 3, further comprising:
respectively normalizing the initial distance information and the distance between the end point and the initial distance information according to a preset normalization coefficient, wherein the preset normalization coefficient is determined according to the initial distance information or the total length of the distance and the target reference line;
and respectively determining a first transverse coordinate constraint and a first longitudinal coordinate constraint of the starting point according to the normalized initial distance information, and respectively determining a second transverse coordinate constraint and a second coordinate constraint of the end point according to the normalized distance.
6. The method of any one of claims 1-5, further comprising:
and generating a planned path based on the smoothed target reference line, and sending the planned path to a target control device so that the target control device controls the automatic driving vehicle to run based on the planned path.
7. A vehicle autopilot reference line smoothing apparatus, comprising:
a point to be smoothed determining module configured to determine a point to be smoothed in a target reference line, the point to be smoothed including a start point and an end point;
A constraint determination module configured to determine a first position constraint, a first derivative constraint, and a second derivative constraint for the starting point, and a second position constraint and a heading angle constraint for the ending point;
a smoothing module configured to smooth the starting point based on the first position constraint, the first derivative constraint, and the second derivative constraint, and to smooth the ending point based on the second position constraint and the heading angle constraint; and acquiring a smoothed target reference line based on the smoothed starting point and the smoothed end point.
8. An autopilot system comprising a planning device and a control device:
the planning device is used for acquiring a smoothed target reference line according to the vehicle automatic driving reference line smoothing method according to any one of claims 1-6, and generating a planning path according to the smoothed target reference line;
the control device is used for receiving the planned path and controlling the automatic driving vehicle to run based on the planned path.
9. An electronic device, comprising: a memory, a processor, and a computer program stored in the memory, the processor running the computer program to perform the vehicle autopilot reference line smoothing method of any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that the storage medium comprises a computer program for implementing the vehicle autopilot reference line smoothing method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310446788.8A CN116476864A (en) | 2023-04-23 | 2023-04-23 | Method, device, system, equipment and medium for smoothing vehicle automatic driving reference line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310446788.8A CN116476864A (en) | 2023-04-23 | 2023-04-23 | Method, device, system, equipment and medium for smoothing vehicle automatic driving reference line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116476864A true CN116476864A (en) | 2023-07-25 |
Family
ID=87220884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310446788.8A Pending CN116476864A (en) | 2023-04-23 | 2023-04-23 | Method, device, system, equipment and medium for smoothing vehicle automatic driving reference line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116476864A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116698059A (en) * | 2023-07-27 | 2023-09-05 | 宁波路特斯机器人有限公司 | Processing method, storage medium and equipment for high-precision map reference line |
-
2023
- 2023-04-23 CN CN202310446788.8A patent/CN116476864A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116698059A (en) * | 2023-07-27 | 2023-09-05 | 宁波路特斯机器人有限公司 | Processing method, storage medium and equipment for high-precision map reference line |
| CN116698059B (en) * | 2023-07-27 | 2023-11-28 | 宁波路特斯机器人有限公司 | Processing method, storage medium and equipment for high-precision map reference line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110316193B (en) | Preview distance setting method, device, equipment and computer readable storage medium | |
| EP3862241A1 (en) | Method and apparatus for planning path for lane changing, electronic device and computer readable medium | |
| CN113353103A (en) | Method, device, equipment and medium for controlling speed of curve vehicle | |
| CN113448335A (en) | Path planning method and device, vehicle and readable storage medium | |
| CN108061555B (en) | Vehicle positioning error correction method and device | |
| CN116476864A (en) | Method, device, system, equipment and medium for smoothing vehicle automatic driving reference line | |
| CN111007861A (en) | Trajectory tracking control method, device and system and mobile robot | |
| CN109814568B (en) | Method and device for generating speed track of unmanned vehicle and storage medium | |
| CN109827584B (en) | Path planning method and device, electronic equipment and storage medium | |
| CN111380556B (en) | Information processing method and device for automatic driving vehicle | |
| CN110083158B (en) | Method and equipment for determining local planning path | |
| CN115489550A (en) | Vehicle turning control method, device, equipment and computer readable storage medium | |
| CN111402148B (en) | Information processing method and apparatus for automatically driving vehicle | |
| CN110307853B (en) | Navigation control method and device | |
| CN115649199A (en) | Vehicle track determination method, device and storage medium | |
| CN112711252B (en) | Mobile robot, path tracking method thereof and computer readable storage medium | |
| CN112644487B (en) | Automatic driving method and device | |
| CN115031755A (en) | Automatic driving vehicle positioning method and device, electronic equipment and storage medium | |
| CN114739416A (en) | Automatic driving vehicle positioning method and device, electronic equipment and storage medium | |
| CN114115268A (en) | Route generation method, apparatus, vehicle and storage medium | |
| JP6936673B2 (en) | Map data update system and map data update program | |
| CN117382639B (en) | Vehicle control method, device, computer equipment and storage medium | |
| CN114055459B (en) | Track planning method, device, electronic equipment and storage medium | |
| CN113753024B (en) | Method, device, equipment and storage medium for eliminating steady-state deviation of vehicle | |
| CN114114930B (en) | Method, device, equipment and medium for generating local reference path of automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |