The invention relates to the field of automatic driving, and discloses a lane curvature radius calculation method and system based on a high-precision map, and the method comprises the steps: obtaining a plurality of shape point coordinates of a lane edge line of a lane where a vehicle is located in real time through a high-precision map sensor; determining projection coordinates of the vehicle projected on the lane edge line based on the plurality of shape point coordinates and the position coordinates of the vehicle; calculating a plurality of shape point projection distances based on the projection coordinates and the plurality of shape point coordinates; constructing a lane curve model based on the plurality of shape point projection distances and the plurality of shape point coordinates, and carrying out shape point sampling based on the lane curve model to obtain a plurality of sampling coordinates; and calculating the lane curvature radius of the lane where the vehicle is located based on the plurality of sampling coordinates. Therefore, the curvature radius of the lane is accurately calculated through the lane curve model constructed based on the lane side line shape point data provided by the high-precision map sensor, the curvature radius parameter of the road in front of the vehicle is foreseeably sensed, and behavior planning in automatic driving is facilitated.

    本发明涉及自动驾驶领域,公开了一种基于高精度地图的车道曲率半径计算方法及系统,所述方法包括:通过高精度地图传感器实时获取车辆所在车道的车道边缘线的多个形点坐标;基于多个形点坐标和车辆的位置坐标确定车辆投影在车道边缘线上的投影坐标;基于投影坐标和多个形点坐标计算多个形点投影距离;基于多个形点投影距离和多个形点坐标构建车道曲线模型,并基于车道曲线模型进行形点采样,获得若干个采样坐标;基于若干个采样坐标计算车辆所在车道的车道曲率半径。由此,通过基于高精度地图传感器提供的车道边线形点数据所构建的车道曲线模型来精准计算车道曲率半径,实现预见性地感知车辆前方道路的曲率半径参数,以助于自动驾驶中的行为规划。


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    Title :

    Lane curvature radius calculation method and system based on high-precision map


    Additional title:

    基于高精度地图的车道曲率半径计算方法及系统


    Contributors:
    SU XIAOCONG (author) / CHEN HUI (author) / CHEN JUEXUAN (author) / CHEN JUN (author) / LU LUNLUN (author)

    Publication date :

    2025-01-10


    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



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