The embodiment of the invention provides a moving track fitting method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining a moving track point of a target object in a driving process of the vehicle, fitting the moving track point to obtain a straight line, and forming a redundant strip-shaped region with the straight line as the center, and determining the number of times that a straight line between the adjacent moving track points passes through the boundary of the redundant strip-shaped region, fitting the moving track points according to the number of times to obtain the moving track of the target object, and controlling the vehicle to travel based on the moving track. In the embodiment of the invention, the moving track points are fitted according to the number of times by determining the number of times that the straight line between the adjacent moving track points passes through the boundary of the redundant strip-shaped region, so that the moving track of the target object is obtained, and the moving track of the target object can be quickly fitted without traversing polynomial fitting moving track points with different orders; and the calculation amount is small, the efficiency is high, and the real-time requirement of unmanned driving path planning is met.
本发明实施例提供了一种移动轨迹拟合方法、装置、车辆和存储介质,方法包括:在车辆行驶过程中,获取目标对象的移动轨迹点,拟合移动轨迹点得到直线,以直线为中心形成冗余带状区域,确定相邻移动轨迹点之间的直线穿过冗余带状区域的边界的次数,依据次数对移动轨迹点进行拟合,得到目标对象的移动轨迹,控制车辆基于移动轨迹行驶。本发明实施例中,通过确定相邻移动轨迹点之间的直线穿过冗余带状区域的边界的次数,依据次数对移动轨迹点进行拟合,得到目标对象的移动轨迹,无需通过遍历不同阶数的多项式拟合移动轨迹点,快速拟合出目标对象的移动轨迹,计算量小,效率高,满足无人驾驶路径规划的实时性需求。
Moving track fitting method and device, vehicle and storage medium
移动轨迹拟合方法、装置、车辆和存储介质
2021-04-23
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 |
Track generation device, track generation method, storage medium, and moving object
Europäisches Patentamt | 2024
|Europäisches Patentamt | 2023
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