A reference trajectory smoothing processing method, device, terminal device and storage medium

Abstract

The present invention provides a reference trajectory smoothing processing method, device, electronic device and storage medium. The method includes: converting a reference trajectory point set in an absolute coordinate system into two sets of data sets that vary with the length of the reference trajectory; converting the two sets of data sets Divide in equal steps, and fit the first segmented data according to the least squares method to obtain the fitting curve equation; The corresponding fitting curve equations are obtained by multiplication and fitting respectively; the trajectory coordinate points are calculated by equidistant sampling based on the fitting curve equation of each segment, and all the trajectory coordinate points calculated in turn are used as the smoothed reference trajectory. The solution solves the complex problem of the calculation process of smoothing when the existing reference trajectory has errors, which can simplify the calculation process, eliminate abnormal trajectory points, and ensure the accuracy and reliability of the reference trajectory.

Description

technical field [0001] The present invention relates to the field of automatic driving, and in particular, to a reference trajectory smoothing processing method, device, terminal device and storage medium. Background technique [0002] In the process of driving, the autonomous 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 obtained reference trajectory is not smooth. Coherence, which will affect the effect of vehicle behavior dec...

AI Technical Summary

Problems solved by technology

[0004] In view of this, an embodiment of the present invention provides 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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