The invention discloses a method and a device for determining a vehicle preview point, electronic equipment and a medium. The method comprises the following steps: acquiring a trajectory planning result of a vehicle; a preview point result in the trajectory planning result is obtained through a pre-trained dual-channel CNN model, the dual-channel CNN model is obtained by using multiple groups of data through neural network training, and each group of data in the multiple groups of data comprises a target state sequence set; and according to the preview point result, determining a preview point number and a corresponding preview point parameter. According to the method, the sudden change points of the speed and the acceleration can be dynamically determined in real time, and the problem that system control is poor under the complex driving working condition is solved. The vehicle speed can be stabilized, the control comfort and safety can be improved, the training mode of the two-channel CNN model is simple, the calculation process is rapid and accurate, and then the accuracy and reliability of preview point determination are improved.
本申请公开了一种车辆预瞄点的确定方法、装置、电子设备、介质,所述方法包括:获取车辆的轨迹规划结果;通过预先训练的双通道CNN模型,得到轨迹规划结果中的预瞄点结果,其中双通道CNN模型为使用多组数据通过神经网络训练得出的,多组数据中的每组数据均包括目标状态序列集;根据预瞄点结果,确定预瞄点编号以及对应的预瞄点参数。本申请能够实时、动态地确定出速度和加速度的突变点,解决复杂驾驶工况下系统控制较差等问题。不仅能够稳定车速,提升控制的舒适性和安全性,而且对于双通道CNN模型的训练方式简单、计算过程快速准确,进而提高了预瞄点确定的准确性和可靠性。
Vehicle preview point determination method and device, electronic equipment and medium
一种车辆预瞄点的确定方法、装置、电子设备及介质
27.06.2023
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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