The invention discloses a method and a device for determining a motion track, and a nonvolatile storage medium. The method comprises the steps that a potential field function of a vehicle is determined according to state vectors of the vehicle, and the state vectors comprise the distance between the vehicle and an obstacle, the relative speed between the vehicle and the obstacle and the relative acceleration between the vehicle and the obstacle; according to the potential field function, potential field force corresponding to the vehicle following scene of the vehicle is determined; and processing the potential field force by using a vehicle kinematic model to obtain a motion trail of the vehicle. The technical problem that the speed and acceleration information of the vehicle cannot be analyzed according to the motion trail of the vehicle due to the fact that the motion trail of the vehicle cannot be generated in the prior art is solved.
本申请公开了一种运动轨迹的确定方法及装置、非易失性存储介质。其中,该方法包括:根据车辆的状态向量,确定车辆的势场函数,其中,状态向量包括:车辆与障碍物之间的距离、车辆与障碍物之间的相对速度以及车辆与障碍物之间的相对加速度;根据势场函数,确定车辆的跟车场景对应的势场力;利用车辆运动学模型对势场力进行处理,得到车辆的运动轨迹。本申请解决了由于现有技术无法生成车辆的运动轨迹造成的无法根据车辆的运动轨迹分析车辆的速度以及加速度信息的技术问题。
Motion track determination method and device and nonvolatile storage medium
运动轨迹的确定方法及装置、非易失性存储介质
2023-06-23
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 |
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