The invention discloses a track correction method and an automatic driving vehicle, and belongs to the technical field of automatic driving. The method comprises the following steps: based on point cloud data and image data of a moving object and a corresponding obstacle, obtaining a first prediction track of the moving object and a first contour of the obstacle; generating a diffusion contour according to the width of the moving object and the first contour, wherein the diffusion contour comprises a contour segment conforming to the moving object in the bypassing direction; and correcting the first predicted trajectory based on the diffusion profile to obtain a second predicted trajectory, thereby improving the accuracy of predicting the moving trajectory of the moving object, ensuring that the automatic driving vehicle avoids the moving trajectory of the moving object through accurately predicting the moving trajectory of the moving object, and improving the accuracy of predicting the moving trajectory of the moving object. Therefore, it is ensured that the automatic driving vehicle does not collide with the moving object, and the safety of the automatic driving vehicle in the moving process is improved.
本申请公开了一种轨迹修正方法和自动驾驶车辆,属于自动驾驶技术领域。方法包括:基于移动对象以及对应的障碍物的点云数据和图像数据,获取移动对象的第一预测轨迹以及障碍物的第一轮廓;根据移动对象的宽度以及第一轮廓生成扩散轮廓,扩散轮廓包括符合移动对象在绕行方向上的轮廓片段;基于扩散轮廓对第一预测轨迹修正,得到第二预测轨迹,本申请提高了对移动对象的移动轨迹进行预测的准确性,通过对移动对象的移动轨迹的准确预测,保证自动驾驶车辆规避移动对象的移动轨迹,进而保证自动驾驶车辆不会与移动对象发生碰撞,提高了自动驾驶车辆移动过程中的安全性。
Track correction method and autonomous vehicle
轨迹修正方法以及自动驾驶车辆
2024-05-17
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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