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Reference trajectory smoothing method and device, terminal equipment and storage medium

A reference trajectory, smoothing technology, applied in special data processing applications, geographic information databases, two-dimensional position/channel control and other directions, can solve the problem of complex calculation process, reduce the computational complexity and solve the complex smoothing process. , the effect of reducing the error

Active Publication Date: 2020-09-18
WUHAN KOTEI INFORMATICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiments of the present invention provide a reference trajectory smoothing method, device, terminal equipment, and storage medium to solve the problem that the calculation process for smoothing is complicated when there is an error in the existing reference trajectory

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  • Reference trajectory smoothing method and device, terminal equipment and storage medium
  • Reference trajectory smoothing method and device, terminal equipment and storage medium
  • Reference trajectory smoothing method and device, terminal equipment and storage medium

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Embodiment Construction

[0024] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work belong to the protection scope of the present invention. The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention, not to limit the scope of the present invention.

[0025] The term "comprising" and other expressions with similar meanings in the description or claims of the p...

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Abstract

The invention provides a reference trajectory smoothing method and device, electronic equipment and a storage medium. The method comprises the steps: converting a reference trajectory point set underan absolute coordinate system into two sets of data sets changing along with the length of a reference trajectory; dividing the two groups of data sets in an equal step length manner, and fitting thedivided first segment data according to a least square method to obtain a fitting curve equation; fitting the segmented data after the first segmentation through a least square method with constraintconditions in sequence to obtain corresponding fitting curve equations; and calculating track coordinate points through equidistant sampling based on the fitting curve equation of each segment, and taking all track coordinate points calculated in sequence as a reference track after smoothing processing. By means of the scheme, the problem that when errors exist in an existing reference track, thecalculation process of smoothing processing is complex is solved, the calculation process can be simplified, abnormal track points are eliminated, and accuracy and reliability of the reference track are guaranteed.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to a reference trajectory smoothing method, device, terminal equipment and storage medium. Background technique [0002] During the driving process, the self-driving vehicle will obtain the reference trajectory in the local range from the map data according to the current position of the vehicle, and combine the real-time environmental information for behavior decision-making and motion planning. Generally, automatic driving has high requirements on the accuracy of map data, especially the reference trajectory in the map. However, whether it is a simple map or a high-precision map, the error of the map data exists objectively, and the source of the error is random. The error of the reference trajectory obtained from the map data is also unavoidable, and the reference trajectory obtained is not smooth. Coherence, which will affect the effect of vehicle behavior decision-maki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F16/29G05D1/02G06F17/12
CPCG06F16/29G05D1/021G06F17/12
Inventor 程德心王猛
Owner WUHAN KOTEI INFORMATICS
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