The invention provides a driving track adjusting method and device, equipment and a storage medium, and the method comprises the steps: determining the lateral deviation information of a target vehicle according to a driving position point set from T0 moment to T1 moment, and the T0 moment is earlier than the T1 moment; calculating compensation data of the target vehicle according to the lateral deviation information; and predicting driving track information of the target vehicle according to the compensation data so as to adjust the driving track of the target vehicle after the T1 moment according to the driving track information. According to the method, the position information of the multiple time frames in a period of time before the current moment is taken as a reference, a relatively accurate transverse deviation recognition result can be obtained under the condition that the accuracy of an automatic driving system algorithm is not changed, and then the accuracy of the transverse deviation recognition result is improved in subsequent driving track adjustment. The actual driving track of the target vehicle can be gradually close to the preset target driving track, and the control effect is optimized.
本申请提出一种行驶轨迹调整方法、装置、设备及存储介质,该方法包括:根据T0时刻至T1时刻的行驶位置点集合,确定目标车辆的横向偏移信息,所述T0时刻早于所述T1时刻;根据所述横向偏移信息计算所述目标车辆的补偿数据;根据所述补偿数据预测所述目标车辆的行驶轨迹信息,以根据所述行驶轨迹信息调整所述目标车辆在所述T1时刻之后的行驶轨迹。本申请通过以当前时刻之前一段时间的多个时间帧位置信息作为参考,在自动驾驶系统算法精确度不变的情况下,能够得到相对准确的横向偏移识别结果,进而,在后续的行驶轨迹调整中,可以使目标车辆的实际行驶轨迹逐渐贴近预设的目标行驶轨迹,优化控制效果。
Driving track adjustment method and device, equipment and storage medium
行驶轨迹调整方法、装置、设备及存储介质
18.02.2025
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 |
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