The invention provides a vehicle automatic driving reference line smoothing method, device, system and equipment and a medium, and the method comprises the steps: determining a to-be-smoothed point in a target reference line, and the to-be-smoothed point comprises a starting point and an ending point; determining a first position constraint, a first-order derivative constraint and a second-order derivative constraint of the starting point, and determining a second position constraint and a course angle constraint of the end point; smoothing the starting point based on the first position constraint, the first derivative constraint and the second derivative constraint, and smoothing the ending point based on the second position constraint and the course angle constraint; and acquiring a smoothed target reference line based on the smoothed starting point and the smoothed ending point. Through the method, the curvature change of the point is smoothed in combination with the first-order derivative constraint and the second-order derivative constraint of the starting point, so that the curvature of the smoothed reference line does not suddenly change, and smooth driving of a vehicle can be effectively controlled when the reference line is used for path planning.

    本申请提供一种车辆自动驾驶参考线平滑方法、装置、系统、设备及介质,该方法包括:确定目标参考线中的待平滑点,所述待平滑点包括起始点和终点;确定所述起始点的第一位置约束、一阶导数约束和二阶导数约束,并确定所述终点的第二位置约束和航向角约束;基于所述第一位置约束、所述一阶导数约束和所述二阶导数约束对所述起始点进行平滑,并基于所述第二位置约束和所述航向角约束对所述终点进行平滑;基于平滑后的起始点和平滑后的终点获取平滑后的目标参考线。通过上述方法,结合起始点的一阶导数约束和二阶导数约束平滑了点的曲率变化,使得平滑后的参考线曲率不会突变,在使用该参考线进行路径规划时可以有效控制车辆的平缓行驶。


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    Title :

    Vehicle automatic driving reference line smoothing method, device, system, equipment and medium


    Additional title:

    车辆自动驾驶参考线平滑方法、装置、系统、设备及介质


    Contributors:
    HU RUZHOU (author) / YU CHUNJIANG (author) / LI YAO (author) / TANG BIHAI (author) / HU HAOWEI (author) / LE JIANFENG (author) / ZHONG HAOJIE (author)

    Publication date :

    2023-07-25


    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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