The invention discloses a reference line determination method and device, equipment, a medium and a product. The method comprises the following steps: acquiring target vehicle data corresponding to a target vehicle, wherein the target vehicle data comprises target environment data and target driving data; determining a scene where the target vehicle is located according to the target vehicle data; when the scene is a target scene, determining a plurality of target control points according to a control point determination mode corresponding to the target scene; creating a first reference line based on the plurality of target control points; and adjusting a second reference line based on the first reference line to obtain a target reference line, the second reference line being obtained by smoothing the lane center line. Thus, the target reference line is more suitable for the scene where the target vehicle is located currently, the driving track generated based on the target reference line is more suitable for the driving track of the human driving vehicle, and the intelligence of the automatic driving vehicle is improved.

    本申请公开了一种参考线确定方法、装置、设备、介质及产品。该方法包括:获取目标车辆对应的目标车辆数据,目标车辆数据包括目标环境数据和目标行驶数据;根据目标车辆数据确定目标车辆所处的场景;在场景为目标场景的情况下,根据目标场景对应的控制点确定方式,确定多个目标控制点;基于多个目标控制点创建第一参考线;基于第一参考线调整第二参考线,得到目标参考线,第二参考线是对车道中心线进行平滑处理得到的。这样,使目标参考线更适用于目标车辆当前所处的场景,基于该目标参考线生成的行驶轨迹更贴合人为驾驶车辆的行驶轨迹,提高了自动驾驶车辆的智能性。


    Access

    Download


    Export, share and cite



    Title :

    Reference line determination method and device, equipment, medium and product


    Additional title:

    参考线确定方法、装置、设备、介质及产品


    Contributors:
    CHEN JUNHAO (author) / KONG FANMIN (author) / WANG QIAN (author) / YU QIANKUN (author)

    Publication date :

    2023-08-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Reference line determination method and device, equipment and medium

    ZHOU GUANGXUE | European Patent Office | 2022

    Free access

    Vehicle automatic driving reference line smoothing method, device, system, equipment and medium

    HU RUZHOU / YU CHUNJIANG / LI YAO et al. | European Patent Office | 2023

    Free access

    Vehicle state determination method and device, equipment, medium and product

    ZHOU MENGMENG / LI RUIHAN / GAO LIANG | European Patent Office | 2023

    Free access

    Line distance determination method and device, equipment and storage medium

    YU WENBIN / SONG XIXIN | European Patent Office | 2021

    Free access

    Road congestion index determination method, device, equipment, medium and product

    CHEN LIFENG / HE RONGJIAN / HE QING et al. | European Patent Office | 2023

    Free access