The invention discloses an automatic driving tracking track point generation method based on a relative coordinate system, and belongs to the field of outdoor navigation and automatic driving. A map coordinate system is constructed by using an initial position, a global coordinate system is used for replacing a word coordinate system for a global coordinate system, and the word coordinate system and the map coordinate system are overlapped together, so that the whole pose relation is converted into local relative conversion from global conversion. Coordinate transformation between a vehicle coordinate system baselink and a world coordinate is simplified; recording a tracking track of the vehicle, setting a first position as a word coordinate system, and overlapping the map with the word coordinate system; and converting subsequent points in the trajectory packet into transformation based on the first position so as to obtain a map-based trajectory point. All track points are changed to be opposite, calculation is reduced, and the coordinate relation is more concise.
本发明的一种基于相对坐标系自动驾驶循迹轨迹点生成方法,属于室外导航与自动驾驶领域。通过使用初始位置来构建map坐标系,并且针对于全局坐标系,使用global坐标系来替代world坐标系,并将world坐标系与map坐标系重叠在一起,使得整个位姿关系从全局变换转变成局部的相对变换。简化车辆坐标系base_link与世界坐标之间的坐标变换;录制车辆的循迹轨迹,将第一个位置设置成world坐标系,并将map与之重合;将轨迹包中后续的点都转换成基于第一个位置的变换,从而得到基于map的轨迹点。将所有的轨迹点都变成相对的,减少了计算,并使得坐标关系更加的简洁。
Automatic driving tracking track point generation method based on relative coordinate system
一种基于相对坐标系自动驾驶循迹轨迹点生成方法
07.07.2023
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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