The invention relates to a tracking reversing path extraction method and device, a storage medium and electronic equipment, and the method comprises the steps: obtaining a historical track and a drivable region of a current vehicle, representing the vertex coordinates of a polygon in a vehicle body coordinate system, generating a reference line based on the historical track, generating a curve coordinate system according to the reference line, and extracting a tracking reversing path according to the curve coordinate system. And based on the curve coordinate system, constructing a target boundary according to the drivable area and the center of the rear axle of the current vehicle, modeling the tracking reversing path generation problem into a quadratic programming problem according to the target boundary, and solving the quadratic programming problem to obtain the tracking reversing path. According to the method, the target boundary of the tracking backing-up path is obtained through fusion use of the travelable area sensed in real time and the historical path, the method does not completely depend on the historical path and can adapt to circumstances so as to improve the safety, and the tracking backing-up path is generated based on the optimization algorithm based on the target boundary, so that the tracking backing-up efficiency is improved. Calculation time is short, the path is smooth, and comfort is guaranteed.

    本公开涉及一种循迹倒车路径提取方法、装置、存储介质及电子设备,上述方法包括获取当前车辆的历史轨迹和可行驶区域,上述多边形的顶点坐标在车身坐标系下表示,基于上述历史轨迹生成参考线,根据上述参考线生成曲线坐标系,基于上述曲线坐标系,根据上述可行驶区域和上述当前车辆的后轴中心构建目标边界,根据上述目标边界,将上述循迹倒车路径生成问题建模成二次规划问题并求解,得到上述循迹倒车路径。本公开通过实时感知的可行驶区域和历史轨迹融合使用,得到循迹倒车路径的目标边界,不完全依赖于历史路径,能够随机应变从而提高安全性,基于上述目标边界,使用基于优化算法生成循迹倒车路径,计算时间少并且路径平滑保证舒适性。


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    Titel :

    Tracking reversing path extraction method and device, storage medium and electronic equipment


    Weitere Titelangaben:

    一种循迹倒车路径提取方法、装置、存储介质及电子设备


    Beteiligte:
    SUN LI (Autor:in) / WANG DONGKE (Autor:in) / ZHANG ZHENLIN (Autor:in) / WANG XINRAN (Autor:in) / LI QIDA (Autor:in) / ZHANG FEI (Autor:in)

    Erscheinungsdatum :

    2024-03-26


    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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