Vehicle driving reference line generation method and system and moving tool
Vehicle driving reference line generation method and system and moving tool
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The embodiment of the invention relates to a vehicle driving reference line generation method. The method comprises the following steps: extracting a road center line; the road center line comprises a plurality of road points; each waypoint has waypoint position information, waypoint course information and waypoint curvature; extracting a plurality of waypoint curvatures in the reference distance range according to the reference distance; according to the multiple road point curvatures, the transverse offset distance of each road point of the road center line is calculated; and generating a vehicle driving reference line according to the transverse offset distance of each road point of the road center line and the corresponding road point position information. The vehicle driving reference line obtained through the method serves as an important basis for path planning of the vehicle, and the safety of the vehicle during turning can be improved.
本发明实施例涉及一种车辆行驶参考线生成方法，包括：提取道路中心线；道路中心线包括若干个路点；每个路点具有路点位置信息、路点航向信息和路点曲率；根据参考距离，提取参考距离范围内的多个路点曲率；根据多个路点曲率，计算道路中心线的每个路点的横向偏移距离；根据道路中心线的每个路点的横向偏移距离和对应的路点位置信息，生成车辆行驶参考线。通过该方法得到的车辆行驶参考线作为车辆进行路径规划的重要依据，可以提高车辆转弯时的安全性。
Dokumentinformationen
Vehicle driving reference line generation method and system and moving tool
一种车辆行驶参考线生成方法、系统及移动工具
2023-11-21
Patent
Elektronische Ressource
Chinesisch
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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