A system and method for operating an autonomous vehicle. A sensor senses a road and an object. A processor determines a representation of a road and a source point representing an object in a Cartesian reference frame, samples a first waypoint and a second waypoint from the representation of the road, determines a linear projection of the source point to a straight line connecting the first waypoint and the second waypoint, determines a first estimate of a longitudinal component of the source point in the road-based reference frame based on the linear projection, and determines a second estimate of a longitudinal component of the source point in the road-based reference frame based on the first estimate. A method for operating a vehicle includes receiving a first estimate of a longitudinal component located on a curve representing a road between a first waypoint and a second waypoint, determining a second estimate of the longitudinal component from the first estimate, determining coordinates of a source point in a road-based reference frame from the second estimate, and operating the vehicle with respect to an object using the coordinates.
一种用于操作自主车辆的系统和方法。传感器感测道路和对象。处理器在笛卡尔参考系中确定道路的表示和代表对象的源点,从道路的表示中采样第一路点和第二路点,确定源点到连接第一路点和第二路点的直线的线性投影,基于线性投影,确定基于道路的参考系中源点的纵向分量的第一估计,该第一估计位于表示第一路点和第二路点之间的道路的曲线上,从第一估计确定纵向分量的第二估计,从第二估计确定基于道路的参考系中源点的坐标,并使用该坐标相对于对象操作车辆。
Efficient road coordinate transformation library
有效的道路坐标转换库
2022-04-12
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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