The invention discloses a smooth transition method for a vehicle track from an intersection to a road section, and aims to solve the problem of unsmooth track transition of a vehicle between the intersection and the road section in the prior art. Comprising the steps of obtaining a matched intersection-to-road section track, calculating a transition target point and a transition speed based on an intersection track, a road section track and an exit lane course angle in the intersection-to-road section track, and judging the transition target point based on a position relation between the intersection track in the intersection-to-road section track and the transition target point. And updating the intersection-to-road track based on the transition target point meeting the judgment condition and the corresponding transition speed. A coordinate system is constructed by taking an intersection as an original point, and an intersection track and a road section track are mapped into the coordinate system, so that a transition point and a transition speed are conveniently calculated. And calculating a transition target point and a corresponding transition target speed based on the matched trajectory, so that the vehicle trajectory from the intersection to the road section is smoothly joined, and complete and smooth transition of the vehicle trajectory from the intersection to the road section is realized.

    本发明公开了一种车辆路口至路段轨迹平滑过渡方法,为了解决现有技术的车辆在路口和路段之间的轨迹过渡不平滑的的问题。包括:获取已匹配的路口至路段轨迹,基于该路口至路段轨迹中的路口轨迹、路段轨迹和出口道航向角计算过渡目标点和过渡速度,基于该路口至路段轨迹中的路口轨迹与过渡目标点的位置关系对过渡目标点进行判断,基于满足判断条件的过渡目标点及其对应的过渡速度更新路口至路段轨迹。以路口为原点构建坐标系,将路口轨迹和路段轨迹映射到坐标系中,便于计算过渡点和过渡速度。基于已匹配轨迹计算过渡目标点和对应过渡目标速度,使车辆路口至路段轨迹流畅衔接,实现车辆从路口至路段轨迹完整平滑过渡。


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    Titel :

    Smooth transition method for track from vehicle intersection to road section


    Weitere Titelangaben:

    一种车辆路口至路段轨迹平滑过渡方法


    Beteiligte:
    JIANG LI (Autor:in) / HU ANTAO (Autor:in) / WANG LIANG (Autor:in) / ZHOU JUNJIE (Autor:in) / YU XIAOLU (Autor:in) / MA ZHENGYANG (Autor:in)

    Erscheinungsdatum :

    2024-01-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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