The invention discloses a curve automatic driving road network generation method and device based on lane lines, and relates to the technical field of automatic driving systems, and an automatic driving track splicing and road network generation method comprises the following steps: obtaining current pose information of a vehicle, pose information of an obstacle on a map and curve information; stratified sampling is carried out on the current pose information of the vehicle and the pose information of the obstacle on the map, and sampling point information is obtained; generating a trajectory curve between any two points of different layers according to the sampling point information and the curve information, and constraining the generated trajectory curve through the obstacle pose information and trajectory constraint points; and splicing the plurality of constrained trajectory curves into a road network. According to the curve automatic driving road network generation method based on the lane lines, complex road conditions during turning can be considered, and the road network can be generated more reasonably.
本发明公开了一种基于车道线的弯道自动驾驶路网生成方法与装置,涉及自动驾驶系统技术领域,一种自动驾驶轨迹拼接和路网生成方法,包括以下步骤:获取车辆当前位姿信息、障碍物在地图上的位姿信息与弯道信息;对所述车辆当前位姿信息以及障碍物在地图上的位姿信息进行分层采样,获取采样点信息;根据所述采样点信息与弯道信息在不同层的任意两点间生成轨迹曲线,通过障碍物位姿信息与轨迹约束点对生成的轨迹曲线进行约束;将所述约束后的多条轨迹曲线拼接成路网。本发明中的基于车道线的弯道自动驾驶路网生成方法,其可以考虑转弯时复杂路况,更合理地生成路网。
Curve automatic driving road network generation method and device based on lane lines
一种基于车道线的弯道自动驾驶路网生成方法与装置
2023-09-29
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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