Connection curve algorithm for constructing intersection entry and exit lane Links based on Bezier curve

A technology of intersections and connecting curves, which is applied in the intersection of navigation and electronic maps, can solve problems such as small turning angles, unsuitable transition curves, and difficulties in defining arcs, etc., to achieve unified algorithms, easy implementation, and compliance. safety effect

Inactive Publication Date: 2016-06-08
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology

Although this method ensures the smoothness of the curve, it is difficult to define the arc, and it is difficult to ensure that the arc is tangent to the entry lane and the exit lane
At the same time, it is also unavoidable that the arc curve crosses the position of the safety island
[0006] (3) Easing curves, this type of curves are mainly used on the up and down ramps of expressways. In urban intersections, the turning angle is often small, so it is not suitable for the transitional curve method

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  • Connection curve algorithm for constructing intersection entry and exit lane Links based on Bezier curve
  • Connection curve algorithm for constructing intersection entry and exit lane Links based on Bezier curve
  • Connection curve algorithm for constructing intersection entry and exit lane Links based on Bezier curve

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Embodiment Construction

[0022] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the invention.

[0023] like figure 1 As shown, the embodiment of the present invention provides a kind of linking curve algorithm based on Bezier curve construction intersection to drive in and out lane Link, described intersection based on Bezier curve builds the link curve algorithm of entering and leaving lane Link at intersection comprising the following steps:

[0024] S1. Obtain the entry vector information of the vehicle from entering the lane Link, and the exit vector information of the vehicle from the exit lane Link, and obtain the change angle of the vehicle trajectory according to the entr...

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Abstract

The invention discloses a connection curve algorithm for constructing intersection entry and exit lane Links based on a Bezier curve. It can be ensured that the curve is tangent to the entry lane Link and the exit lane Link through characteristics of the Bezier curve, meanwhile, the through region of the curve can be safely controlled by means of the position of a middle control point, the phenomena of passing through an intersection safety island and a road edge are avoided, and the generated curve fits a safe wheelpath line. Accordingly, the safe wheelpath reference line can be provided for an unmanned car when the car passes through the intersection. According to characteristics of the Bezier curve, the algorithm for connecting wheelpath curves of the intersection entry and exit lane Links is built, the algorithm meets the fitness and safety demand of the actual wheelpaths, the algorithm is unified and convenient to obtain, and the algorithm can be used for different moving direction connecting relations.

Description

technical field [0001] The invention relates to a connection curve algorithm for constructing an intersection entry and exit lane Link based on a Bezier curve, which belongs to the intersection field of navigation and electronic maps. Background technique [0002] With the application of high-precision navigation platforms and the gradual realization of unmanned driving, the recognition of lane lines by unmanned vehicles has become an important link. However, there are often no lane printing lines at intersections in real road conditions. How to ensure that unmanned vehicles It is a very important technical problem to pass through the crossing according to the reasonable and safe driving track under this situation. [0003] On the other hand, the road-level path planning of traditional navigation systems can no longer meet the requirements of high-precision navigation and unmanned driving. Path planning must be elevated to the lane level. Therefore, it is necessary to esta...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 李非王军德罗跃军
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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