Displacement filling modeling method and related device

Abstract

The invention discloses a displacement filling modeling method and device, and the method comprises the steps: carrying out the regression modeling based on the relative displacement sc and relative speed vc of a plurality of groups of other vehicles and a target vehicle, which are obtained through the recognition of historical moment point cloud data corresponding to a plurality of other vehicles, and the corresponding calculation time tc, and obtaining a first displacement filling model; and determining a target displacement filling model based on the determinable coefficient R2 of the firstdisplacement filling model and a preset determinable coefficient value. Thus, the method is based on the relative displacement sc and the relative speed vc of a plurality of groups of other vehiclesand a target vehicle and corresponding calculation time tc. The target displacement filling model obtained by adopting the regression modeling mode is used for realizing displacement filling, and thepoint cloud data can more accurately predict the relative displacement of other vehicles and the target vehicle through the target displacement filling model, so that the delay difference is reduced,and the problem of inaccurate lag is avoided.

Description

technical field [0001] The present application relates to the technical field of vehicle data analysis, in particular to a displacement filling modeling method and a related device. Background technique [0002] When driving a vehicle, especially unmanned driving, it is necessary to clarify the relative displacement of other vehicles and the own vehicle. At present, the self-vehicle generally obtains the relative displacement of other vehicles and the self-vehicle through the point cloud recognition of the lidar. Specifically, the point cloud data corresponding to other vehicles is input into the point cloud recognition algorithm, and the output is obtained to obtain the relative displacement of other vehicles and the self-vehicle. [0003] However, the inventor found through research that the point cloud recognition algorithm requires a certain amount of computing time, and during the calculation process of the point cloud recognition algorithm, the own vehicle and other ve...

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Problems solved by technology

[0003] However, the inventor found through research that the point cloud recognition algorithm requires a certain amount of computing time, and during the calculation process of the point cloud recognition algorithm, the self-vehicle and other vehicles still continue to move, the other vehicles obtained by the point cloud recognition algorithm and the self-vehicle There is a certain delay difference between the relative displacement and the actual relative displacement, that is, the relative displacement between other vehicles and the self-vehicle obtained by the point cloud recognition algorithm has the problem of lag and inaccuracy

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