The invention discloses a vehicle U-turn trajectory selection and splicing method, system, medium and device, and belongs to the technical field of automatic driving technication.The method comprises the steps that multiple vehicle driving trajectories are obtained through vehicle collection; segmenting the vehicle driving track by using the intersection frame to obtain a plurality of initial turn-around line tracks; respectively calculating a first distance between the starting point of the plurality of initial U-turn line tracks and the entry point of the U-turn lane and a second distance between the end point of the initial U-turn line tracks and the exit point of the U-turn lane, and performing screening to determine a target U-turn line track corresponding to the U-turn lane; and adjusting the target turn-around line trajectory to enable the starting point to coincide with the entry point and the end point to coincide with the exit point. According to the invention, the collection vehicle actually collects the U-turn line track, screens the collected U-turn line track and splices the collected U-turn line track with the original automatic driving indication line, so that the automatic driving vehicle can turn around according to the indication of the U-turn line, and the driving experience of a driver is ensured.

    本申请公开了一种车辆掉头轨迹选取与拼接方法、系统、介质及设备,属于自动驾驶技技术领域,该方法包括:通过采集车辆采集,得到多条车辆行驶轨迹;利用路口框对车辆行驶轨迹进行切分,得到多条初始掉头线轨迹;分别计算多条初始掉头线轨迹的起点与掉头车道的驶入点的第一距离和初始掉头线轨迹的终点与掉头车道的驶出点的第二距离,并进行筛选,确定掉头车道对应的目标掉头线轨迹;对目标掉头线轨迹进行调整,使得起点与驶入点重合,终点与驶出点重合。本申请通过采集车实际采集掉头线轨迹,并对采集的掉头线轨迹进行筛选和与原来的自动驾驶指示线进行拼接,保证自动驾驶车辆能够依照掉头线的指示进行掉头,保证驾驶人员的驾乘体验。


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    Titel :

    Vehicle turning track selection and splicing method, system, medium and equipment


    Weitere Titelangaben:

    车辆掉头轨迹选取与拼接方法、系统、介质及设备


    Beteiligte:
    LIU TIANWEI (Autor:in) / LIU YUHAO (Autor:in) / ZHONG ZHENYU (Autor:in) / ZHAO XU (Autor:in) / SHAN LE (Autor:in)

    Erscheinungsdatum :

    2023-10-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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