The invention relates to a method and a device for optimizing a reference lane when a vehicle passes through a curve. The method comprises the following steps: an initial reference lane acquisition step: acquiring an initial reference lane based on sensor data of a vehicle; a curvature acquisition step: acquiring the curvature of the initial reference lane; and an optimization step: taking the curvature of the initial reference lane as a target function, and adopting a specified function for solving a quadratic programming problem to optimize the curvature of the initial reference lane. According to the method and the device for optimizing the reference lane when the vehicle passes through the curve, compared with an initial reference lane, the optimized reference lane has smaller curvature and curvature change, so that when the vehicle encounters the curve, the vehicle can slightly decelerate to enter and exit the curve.
本发明涉及一种车辆过弯道时参考车道的优化方法及其装置。该方法包括:初始参考车道获取步骤,基于车辆的传感器数据获取初始参考车道;曲率获取步骤,获取所述初始参考车道的曲率;以及优化步骤,以所述初始参考车道的曲率作为目标功能,采用用于解决二次规划问题的规定函数来优化所述初始参考车道的曲率。利用本发明的车辆过弯道时参考车道的优化方法以及优化装置,与初始参考车道相比,优化后的参考车道具有更小的曲率和曲率变化,这样当车辆遇到弯道时,车辆可以小幅减速进出弯道。
Method and device for optimizing reference lane when vehicle passes through curve
车辆过弯道时参考车道的优化方法以及优化装置
2023-05-12
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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