The invention provides a preview point determination method and device based on a pure tracking algorithm, a vehicle and a storage medium. The preview point determination method comprises the steps of obtaining a current pose and a planned path of the vehicle; determining a current following point from a plurality of path points in the planned path according to the relative position relationship between the current pose of the vehicle and the plurality of path points in the planned path; determining a first reference point from path points arranged behind the current following point in the planned path according to the shape of the planned path; and determining a preview point according to the position of the first reference point. According to the preview point determination method provided by the invention, the appropriate preview distance can be selected according to the shape of the planned path, the problem of vehicle control oscillation caused by the too short preview distance and the problem of low steering rationality caused by the too long preview distance can be avoided, and the robustness of the vehicle following path can be improved.
本申请提供一种纯跟踪算法的预瞄点确定方法、装置、车辆以及存储介质,所述预瞄点确定方法包括:获取所述车辆的当前位姿和规划路径;根据所述车辆的当前位姿与所述规划路径中的多个路径点的相对位置关系,从所述规划路径中的多个路径点中确定当前跟随点;根据规划路径的形状,从规划路径中排列在当前跟随点之后的路径点中确定第一参考点;以及根据第一参考点的位置确定预瞄点。本申请提供的预瞄点确定方法可以根据规划路径的形状选择合适的预瞄距离,可以避免出现预瞄距离过短造成车辆控制震荡的问题以及预瞄距离过长造成转向合理性偏低的问题,能够提升车辆跟随路径的鲁棒性。
Pure tracking algorithm-based preview point determination method and device, vehicle and storage medium
纯跟踪算法的预瞄点确定方法、装置、车辆以及存储介质
2023-08-18
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 |
Preview point determining method based on Pure Pursuit algorithm
European Patent Office | 2015
|Vehicle preview point determination method and device, electronic equipment and medium
European Patent Office | 2023
|Pure tracking control preview distance optimization method based on double-delay vehicle model
European Patent Office | 2023
|European Patent Office | 2025
|Preview point determination method, vehicle control method and vehicle control system
European Patent Office | 2022
|