The invention provides a reference line generation method and device, a vehicle control method and device, electronic equipment, a vehicle and a storage medium, and the reference line generation method comprises the steps that in response to the vehicle entering an automatic driving mode, navigation route information is obtained, and the navigation route information is used for reflecting multiple lanes of the vehicle from the current position to the destination position; determining whether a lane change node exists in a driving route indicated by the navigation route information, wherein the lane change node is a connection node which has a connection relation in the longitudinal direction and is located on front and back adjacent lanes of different lanes in the transverse direction; under the condition that the lane changing node exists, determining a target front lane and a target rear lane which are connected with the lane changing node, and determining a first control point on the target front lane and a second control point on the target rear lane respectively; and performing curve fitting on the first control point and the second control point to generate a lane change reference line. According to the embodiment of the invention, the lane change experience of the automatic driving vehicle can be improved.
本公开提供了一种参考线生成方法、车辆控制方法、装置、电子设备、车辆及存储介质,该参考线生成方法包括:响应于车辆进入自动驾驶模式,获取导航路线信息,导航路线信息用于反映车辆从当前位置到目的地位置的多段车道;确定导航路线信息所指示的行驶路线中是否存在车道变更节点,车道变更节点是指在纵向上具备连接关系但在横向上位于不同车道的前后相邻车道的连接节点;在存在车道变更节点的情况下,确定车道变更节点所连接的目标前车道以及目标后车道,并分别在目标前车道上确定第一控制点以及在目标后车道上确定第二控制点;对第一控制点和第二控制点进行曲线拟合,生成车道变更参考线。本公开实施例,可以提升自动驾驶车辆的车道变更体验。
Reference line generation method and device, vehicle control method and device, equipment, vehicle and medium
参考线生成及车辆控制方法、装置、设备、车辆及介质
2024-04-09
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 |
Vehicle automatic driving reference line smoothing method, device, system, equipment and medium
European Patent Office | 2023
|Intersection turning path reference line generation method and device, vehicle and storage medium
European Patent Office | 2022
|Virtual lane line generation method, control method, equipment, vehicle and medium
European Patent Office | 2024
|Lane line generation method and device, storage medium, electronic equipment and vehicle
European Patent Office | 2024
|Vehicle control method, device and equipment, medium and vehicle
European Patent Office | 2023
|