The invention provides a track smoothing method, a product, a storage medium and electronic equipment, and the method comprises the steps: obtaining a to-be-smoothed driving track, the driving track comprises track points arranged according to a time sequence, firstly determining a burr segment in the driving track, processing the burr segment into a smooth segment, and then obtaining a preliminary smooth track; and then a vehicle kinematics constraint condition is called, and track points which do not meet the vehicle kinematics constraint condition in the preliminary smooth track are processed to obtain a smoothed track which meets the vehicle kinematics constraint condition. Namely, in the scheme of the invention, for the initial driving track to be smoothed, secondary smoothing is adopted, and the kinematics constraint condition of the vehicle is fully considered in the process of secondary smoothing, so that the obtained smoothed track better conforms to the real vehicle motion track. When the trajectory smoothed by the scheme of the invention is used for a subsequent filtering algorithm, the algorithm processing efficiency and effect can also be improved.
本申请方案提供一种轨迹平滑方法、产品、存储介质及电子设备,其方法包括:获得待平滑处理的行驶轨迹,行驶轨迹包括按时间顺序排列的轨迹点,首先确定行驶轨迹中的毛刺段并将所述毛刺段处理为平滑段后得到初步平滑轨迹,然后调取车辆运动学约束条件,对初步平滑轨迹中不符合车辆运动学约束条件的轨迹点进行处理得到满足车辆运动学约束条件的平滑后轨迹。也即,本申请方案中对于初始的待平滑处理的行驶轨迹,采用了二次平滑处理,且第二次平滑处理过程中充分考虑车辆运动学约束条件,由此得到的平滑后轨迹更加符合真实车辆运动轨迹。而采用本申请方案平滑处理后的轨迹,用于后续滤波算法时也能够提升算法处理效率和效果。
Track smoothing method, product, storage medium and electronic equipment
一种轨迹平滑方法、产品、存储介质及电子设备
2024-08-06
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
Track smoothing method, vehicle, equipment and program product
European Patent Office | 2024
|Track prediction method, electronic equipment and storage medium
European Patent Office | 2023
|Track detection method, track detection device, electronic equipment and storage medium
European Patent Office | 2024
|Track planning method, electronic equipment and storage medium
European Patent Office | 2024
|Track smoothing method and device for autonomous vehicle and electronic equipment
European Patent Office | 2024
|