The invention provides a method and a device for acquiring a nearest track point on an automatic driving planning route. Comprising the following steps: dividing a plurality of track points on an automatic driving planning route into n sets; selecting a set where the mark point closest to the vehicle is located from the n sets and recording the set as a selected set; acquiring an initial reference point and a reference distance between the initial reference point and the vehicle based on the selected set; acquiring a first track point and a second track point adjacent to the initial reference point, and acquiring a first distance between the first track point and the vehicle and a second distance between the second track point and the vehicle; and based on the initial reference point, the first track point, the second track point, the reference distance, the first distance and the second distance, obtaining a track point closest to the vehicle as the nearest track point of the vehicle on the automatic driving planning route. The distance between all the track points and the vehicle does not need to be calculated, the calculation amount can be remarkably reduced, the calculation speed and timeliness are improved, and therefore the starting speed and the response speed of the vehicle are improved.
本发明提供一种自动驾驶规划路线上最近轨迹点的获取方法及获取装置。包括:将自动驾驶规划路线上的多个轨迹点划分为n个集合;自n个集合中选取与车辆最近的标志点所在的集合记为选定集合;基于选定集合,获取初始参考点及初始参考点与车辆的参考距离;获取与初始参考点相邻的第一轨迹点及第二轨迹点,并获取第一轨迹点与车辆的第一距离及第二轨迹点与车辆的第二距离;基于初始参考点、第一轨迹点、第二轨迹点、参考距离、第一距离及第二距离得到与车辆最近的轨迹点作为车辆在自动驾驶规划路线上最近轨迹点。本发明无需计算所有轨迹点与车辆的距离,可以显著减小计算量,提高计算速度及时效性,从而提高车辆的启动速度和响应速度。
Method and device for acquiring nearest track point on automatic driving planning route
自动驾驶规划路线上最近轨迹点的获取方法及获取装置
2023-07-18
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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