The invention discloses a method for processing projection ambiguity under a Frenet coordinate system. The method comprises the following steps: acquiring data associated with an obstacle near a driving area at the current moment and a reference line; projecting the obstacle to the reference line under a Frenet coordinate system to generate a first projection; determining a relative position relationship between the obstacle and the vehicle in response to the fact that each point of the first projection is located on different sides of the reference line; when the relative position relation of the obstacle and the vehicle is inconsistent in different coordinate systems, the first projection is split into second projection, and the second projection is a projection result which does not hinder vehicle driving. Apparatuses and media for handling projection ambiguity in a Frenet coordinate system, as well as numerous other aspects, are also disclosed.
本申请公开了一种用于处理Frenet坐标系下投影歧义的方法,包括:获取与当前时刻行驶区域附近的障碍物相关联的数据以及参考线;在Frenet坐标系下将所述障碍物投影至所述参考线上以生成第一投影;响应于所述第一投影的各个点位于所述参考线的不同侧而确定障碍物与车辆的相对位置关系;当所述障碍物与所述车辆的相对位置关系在不同坐标系下不一致时,将所述第一投影被拆分为第二投影,其中所述第二投影是不阻碍车辆行驶的投影结果。还公开了用于处理Frenet坐标系下投影歧义的装置和介质,以及众多其他方面。
Method and device for processing projection ambiguity under Frenet coordinate system and medium
用于处理Frenet坐标系下投影歧义的方法、装置和介质
2024-03-26
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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