The invention provides a driving track determination method, a vehicle and a storage medium, and relates to the technical field of automobiles, and the method comprises the following steps: obtaining observation state information of an environment where the vehicle is located; creating a target coordinate system by taking the current position of the vehicle as an original point and the direction of the vehicle head as the positive direction of the X axis; based on the observation state information, vectorization representation of the observation state information in the target coordinate system is determined, and vectorization features of the environment are obtained; based on the vectorization features of the environment, a target trajectory is determined, and the target trajectory is used for indicating the vehicle to run according to a lane corresponding to the target trajectory. According to the scheme, the coordinate system is established based on the current position of the vehicle, and the observation state information of the environment where the vehicle is located is converted into vectorization representation, so that the vectorization features are obtained, the target trajectory is predicted for the vehicle based on the vectorization features, and due to the fact that vectorization feature induction bias and sample efficiency are high, the target trajectory prediction accuracy is high. Therefore, the learning efficiency of the model is improved.
本申请提供了一种行驶轨迹的确定方法、车辆和存储介质,涉及汽车技术领域,方法包括:获取车辆所在环境的观测状态信息;以车辆当前所在的位置为原点,以车头朝向为X轴正方向,创建目标坐标系;基于观测状态信息,确定观测状态信息在目标坐标系中的矢量化表征,得到环境的矢量化特征;基于环境的矢量化特征,确定目标轨迹,目标轨迹用于指示车辆按照目标轨迹对应的车道行驶。通过本方案,基于车辆当前所在的位置建立坐标系,将车辆所在环境的观测状态信息转化为矢量化表征,从而得到矢量化特征,这样基于该矢量化特征为车辆预测目标轨迹,由于矢量化的特征归纳偏置和样本效率均较高,从而提高了模型的学习效率。
Driving track determination method, vehicle and storage medium
行驶轨迹的确定方法、车辆和存储介质
2024-12-31
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 |
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