The invention discloses a vehicle unified path model based on the intersection entrance and exit lane position relation. The vehicle unified path model is used for describing the path of a vehicle passing through an intersection. According to the method, a coordinate system based on an intersection entrance lane is established, and the position relation between the entrance lane and the exit lane through which a vehicle passes through the intersection is described; a third-order Bezier curve is used for describing a path of a vehicle passing through the intersection, and a correlation between control parameters of a Bezier curve fitting path and position relation parameters of an entrance lane and an exit lane of the intersection is established, so that a vehicle unified path model based on the position relation of the entrance lane and the exit lane of the intersection is constructed. Compared with the existing model, the method can directly determine the vehicle path through the physical environment characteristics of the intersection, is not limited to a single turning direction and the geometrical shape of the intersection, and can support the automatic driving vehicle to accurately predict the movement of the manual driving vehicle and the path planning of the automatic driving vehicle.
本发明公开了一种基于交叉口进出口道位置关系的车辆统一路径模型,用于描述车辆通过交叉口的路径。本发明通过建立基于交叉口进口道的坐标系,描述了车辆通过交叉口所经过的进口道和出口道之间的位置关系;使用三阶贝塞尔曲线描述车辆通过交叉口的路径,建立了贝塞尔曲线拟合路径的控制参数与交叉口进口道和出口道位置关系参数之间的相关关系,从而构建了基于交叉口进出口道位置关系的车辆统一路径模型。与已有模型相比,本发明能够通过交叉口物理环境特征直接确定车辆路径,不局限于单一的转弯方向和交叉口几何形状,并能够支持自动驾驶车辆准确预测人工驾驶车辆的运动以及自动驾驶车辆的路径规划。
Vehicle unified path model based on intersection entrance and exit lane position relation
一种基于交叉口进出口道位置关系的车辆统一路径模型
2023-03-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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