The invention relates to an automatic driving technology, and discloses an automatic driving reference line generation method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a fitting point according to a vehicle position; converting a first coordinate of the fitting point in a global coordinate system into a second coordinate in a local coordinate system; generating fitting constraint conditions according to the fitting points; performing polynomial fitting according to the second coordinate and the fitting constraint condition to obtain a fitting curve; and converting the fitted curve to the global coordinate system to obtain a reference line. According to selection of the fitting points and mutual conversion between the global coordinate system and the local coordinate system, the balance of the generated driving reference line can be improved.
本发明涉及自动驾驶技术,揭露了一种自动驾驶参考线生成方法、装置、电子设备及存储介质,所述方法包括:根据车辆位置确定拟合点;将所述拟合点在全局坐标系下的第一坐标转换为在局部坐标系下的第二坐标;根据所述拟合点生成拟合约束条件;根据所述第二坐标以及所述拟合约束条件进行多项式拟合,得到拟合曲线;将所述拟合曲线转换至所述全局坐标系,得到参考线。本发明根据拟合点的选取以及全局坐标系和局部坐标系之间的相互转换,可以提高生成的驾驶参考线的平衡性。
Automatic driving reference line generation method and device, electronic equipment and storage medium
自动驾驶参考线生成方法、装置、电子设备及存储介质
2024-06-18
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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