The invention provides a track smoothing method, a vehicle, equipment and a program product applied to the field of automatic driving, and the method comprises the steps: obtaining the driving track information of each other vehicle detected by a vehicle; the driving track information comprises first coordinate information of a plurality of track points in a historical driving track of the other vehicle; screening out a first driving track and a second driving track from each historical driving track according to the first coordinate information of the plurality of track points; segmenting the second driving track into at least two third driving tracks by using at least two adjacent track points of which the distance is greater than or equal to a set distance in the second driving track, and taking the first driving track and the third driving tracks as target driving tracks; and smoothing the target driving track to obtain a smoothed driving track. The invention aims to solve the problem of how to eliminate the influence of trajectory noise on trajectory smoothing, can avoid the problem of unreasonable trajectory smoothing caused by noisy points in the trajectory, and improves the continuity of trajectory smoothing.

    本公开提供了一种应用于自动驾驶领域的轨迹平滑方法、车辆、设备和程序产品,其中,该方法包括:获取自车检测的各个他车的行驶轨迹信息;行驶轨迹信息包括他车的历史行驶轨迹中的多个轨迹点的第一坐标信息;根据多个轨迹点的第一坐标信息,从各历史行驶轨迹中筛选出第一行驶轨迹和第二行驶轨迹;利用第二行驶轨迹中距离大于或等于设定距离的至少两个相邻轨迹点,将第二行驶轨迹切分为至少两条第三行驶轨迹,并将第一行驶轨迹和第三行驶轨迹作为目标行驶轨迹;对目标行驶轨迹进行平滑处理,得到平滑后行驶轨迹。本公开旨在解决如何消除轨迹噪声对轨迹平滑的影响,能够避免轨迹中噪点导致轨迹平滑不合理的问题,提高轨迹平滑的连续性。


    Access

    Download


    Export, share and cite



    Title :

    Track smoothing method, vehicle, equipment and program product


    Additional title:

    一种轨迹平滑方法、车辆、设备和程序产品


    Contributors:
    CAI YAWEN (author) / LI XIANG (author)

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    Track smoothing method, product, storage medium and electronic equipment

    LIAO-TIAN ZHIHAO | European Patent Office | 2024

    Free access

    Track smoothing method and device for autonomous vehicle and electronic equipment

    LIU YANG / TIAN LEI / QIN TAO et al. | European Patent Office | 2024

    Free access

    Positioning track processing method, electronic equipment, vehicle and computer program product

    ZHONG ZEBIN / LI XIANG | European Patent Office | 2024

    Free access


    Vehicle-mounted track circuit information decoding method, system, equipment, medium and program product

    MA XIAOMEI / FANG DI / QIN YAFEN et al. | European Patent Office | 2024

    Free access