The invention provides a projection point calculation method under a frenet coordinate system and related equipment, and the method comprises the steps: building a Cartesian coordinate system, fitting the center line of a track where a vehicle is located according to discrete points of a road where the vehicle is located, and enabling the center line to comprise a road center line and a lane center line; for Cartesian coordinates of any position point outside the center line, converting the problem of solving a projection point of the position point projected to the frenet coordinate system into an equation for searching a point closest to the position point from the center line; and solving the equation by adopting an iteration method to obtain an optimal result, and taking the optimal result as a projection point under a frenet coordinate system. According to the method, a violent search problem is converted into a mathematical optimization problem, then an iterative method is used for solving to obtain an optimal result of the projection point, a large amount of calculation caused by positive solution of an equation is avoided, the vehicle position point in a Cartesian coordinate system can be quickly projected to a frenet coordinate system, and meanwhile, the calculation precision of the projection point is ensured.
本发明提供一种frenet坐标系下投影点计算方法及相关设备,方法包括:建立笛卡尔坐标系,根据车辆所在道路的离散点拟合自车所在轨迹的中心线,中心线包括道路中心线和车道中心线;对于中心线外的任意一个位置点的笛卡尔坐标,将求解位置点投影到frenet坐标系上的投影点的问题转换为从中心线上寻找距离位置点的距离最近的点的方程;采用迭代方法对方程进行求解得到最优结果,以作为frenet坐标系下的投影点。本发明将暴力搜索问题转化为数学优化问题,再用迭代方法进行求解得到投影点的最优结果,避免正面解方程带来的大量计算,能够快速地将笛卡尔坐标系下的车辆位置点投影到frenet坐标系下,同时保证了投影点的计算精度。
Projection point calculation method under frenet coordinate system and related equipment
一种frenet坐标系下投影点计算方法及相关设备
2024-10-29
Patent
Electronic Resource
Chinese
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