The invention provides a middle-precision map intersection guide line optimization method and system, and the method comprises the steps: determining a plurality of drop points at the two ends of the total arc length of an intersection road guide line symmetrically at equal intervals, calculating the deflection radius and deflection angle of each arc length, and connecting two adjacent drop points through an arc, and for the arc length of the undetermined drop point, connecting the drop points at the two ends by adopting an arc, and finally generating the optimized guide line of the intersection road. The invention provides a construction method of a lane center line in a lane line intersection of a medium-precision map, so that connecting lines in the intersection can be smoothly connected and have the characteristic of smooth curvature change, and the problem of instantaneous curvature change caused by direct use of a circular fitting guide line in the intersection of the medium-precision map in the past can be solved; the phenomenon that passengers feel uncomfortable due to the fact that the steering wheel is in place in one step in the automatic driving process is improved.
本发明提供一种中精度地图交叉路口引导线优化方法及系统,在交叉路口道路引导线的总弧长的两端对称间隔相等的弧长确定多个落点,且计算每一段弧长的偏转半径和偏转角度,对相邻两个落点采用圆弧进行连接,对未确定落点的弧长,采用圆弧连接两端落点,最后生成交叉路口道路优化后的引导线。本发明提出在中精度地图车道线交叉路口中车道中心线的构造方法,使得在交叉点路口内的接续线能平滑连接且具备曲率平滑变化的特性,能够解决过去中精度地图中交叉路口内直接用圆形拟合引导线导致的曲率瞬间变化的问题,改善自动驾驶过程中方向盘一步到位导致的乘客不舒适的现象。
Medium-precision map intersection guide line optimization method and system
一种中精度地图交叉路口引导线优化方法及系统
2022-04-08
Patent
Elektronische Ressource
Chinesisch
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