The invention discloses a U-turn line construction method and system, a U-turn method and a medium, and belongs to the technical field of automatic driving. The method comprises the following steps: determining a starting point and an ending point of turning around of a vehicle; determining multiple groups of U-turn line control points according to the starting point and the ending point; correspondingly generating a plurality of Bezier curves by using the starting point, the ending point and the plurality of groups of U-turn line control points; calculating the curvature of each point in the Bezier curve and the distance between each point and the static obstacle; and determining the corresponding Bezier curve as the U-turn line under the condition that the distance and the curvature meet the corresponding preset conditions. When the U-turn line of the automatic driving vehicle is generated, the U-turn line is generated by using a Bezier curve generation method, and meanwhile, curvature and distance constraint is performed, so that smoothness of the U-turn line is ensured, and good safety and relatively high driving experience are achieved when the automatic driving vehicle turns around according to the U-turn line.
本申请公开了一种掉头线构造方法、系统、掉头方法及介质,属于自动驾驶技术领域。该方法包括确定车辆进行掉头的起始点和终止点;根据起始点和终止点确定多组掉头线控制点;利用起始点、终止点以及多组掉头线控制点对应生成多条贝塞尔曲线;计算贝塞尔曲线中各个点的曲率以及各个点与静态障碍物之间的距离;在距离和曲率均符合相应的预设条件下,将对应的贝塞尔曲线确定为掉头线。本申请进行自动驾驶车辆掉头线的生成时,利用贝塞尔曲线的生成方法,生成掉头线,同时进行曲率和与距离的约束,保证掉头线的平滑,提高自动驾驶车辆按照该掉头线进行掉头时,具有良好的安全性和较高的驾乘体验。
U-turn line construction method and system, U-turn method and medium
掉头线构造方法、系统、掉头方法及介质
2023-10-27
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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