The invention relates to the technical field of automatic driving, and provides an acceleration smoothing method based on learning. The method comprises the following steps: selecting a Frenet road coordinate system, and collecting tracking trajectory data of vehicles in a set range near a target vehicle; extracting driving characteristics; the target vehicle of the set frame inputs the feature matrix of a first set number of frames past the set frame to the time sequence convolutional network, and through training, a time sequence of past speed, current speed and future speed is output; and carrying out post-processing on a frame contained in the future speed in the predicted and smoothed speed sequence to obtain the acceleration of the current frame. According to the method, the problem that the smoothing purpose cannot be achieved due to the fact that the output accelerations between the frames are not related is avoided; real-time filtering delay does not exist in speed change, and the result is more accurate; and the post-treatment is more flexible.

    本发明涉及自动驾驶技术领域,提供了提供了一种基于学习的加速度平滑方法。该方法包括:选择Frenet道路坐标系,采集目标车辆附近设定范围内的车辆的跟踪轨迹数据;提取行车特征;设定帧的目标车辆,输入设定帧过去的第一设定数量的帧的特征矩阵至时序卷积网络,经训练,输出过去速度、当前速度和未来速度的时间序列;将预测的平滑后的速度序列中的未来速度所包含的帧,通过后处理,获得当前帧的加速度。本发明避免了帧与帧之间的输出加速度没有联系,无法达到平滑的目的;实现了在速度变化上不会有实时滤波的延迟,结果更准确;做到了在后处理上更为灵活。


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    Title :

    Acceleration smoothing method based on learning


    Additional title:

    一种基于学习的加速度平滑方法


    Contributors:
    ZHANG XIAOFENG (author) / JIANG DI (author)

    Publication date :

    2023-09-15


    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



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