The invention relates to an intersection turning path reference line generation method and device, a vehicle and a storage medium. The method comprises the following steps: determining a first end point and a second end point of a turning path reference line of a target turning intersection; acquiring a curvature value of the first end point; obtaining a cycloid parameter value of a preset cycloid formula; and according to the curvature value of the first end point and the parameter value of the rotation line, obtaining position data of a plurality of track reference points on the rotation line corresponding to the preset rotation line formula between the first end point and the second end point. According to the scheme provided by the invention, the turning path reference line conforming to the vehicle movement behavior can be generated at the intersection, so that the automatic driving vehicle can reasonably plan the trajectory, and the safety of the automatic driving vehicle passing through the intersection is improved.
本申请涉及一种路口转弯路径参考线生成方法、设备、车辆及存储介质。该方法包括:确定目标转弯路口的转弯路径参考线的第一端点和第二端点;获得所述第一端点的曲率值;获得预设回旋线公式的回旋线参数值;根据所述第一端点的曲率值、以及所述回旋线参数值,获得所述第一端点和第二端点之间对应于所述预设回旋线公式的回旋线上的多个轨迹参考点的位置数据。本申请提供的方案,能够在路口生成符合车辆运动行为的转弯路径参考线,使得自动驾驶车辆能够合理地规划轨迹,提高自动驾驶车辆通过路口的安全性。
Intersection turning path reference line generation method and device, vehicle and storage medium
路口转弯路径参考线生成方法、设备、车辆及存储介质
2022-12-20
Patent
Electronic Resource
Chinese
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 |
Intersection turning method, readable storage medium and intelligent equipment
European Patent Office | 2024
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