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。
Track smoothing method, vehicle, equipment and program product
一种轨迹平滑方法、车辆、设备和程序产品
2024-12-06
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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