The invention discloses a U-turn line generation method and system and a U-turn method, and belongs to the technical field of automatic driving. The method comprises the steps of determining a starting point and an ending point of turning around; determining multiple groups of U-turn line control points according to the starting point and the ending point; correspondingly generating a plurality of Bezier curves by using the starting point, the ending point and the plurality of groups of U-turn line control points; calculating the curvature of each point in the Bezier curve; under the condition that the curvature meets the corresponding preset condition, the difference value change proportion of the peak value and the valley value of the curvature is calculated; and determining the Bezier curve of which the proportion meets a preset proportion condition as the U-turn line. According to the method, the bezier curve generation method is utilized, the U-turn line is generated through the multiple U-turn line control points, smoothness of the U-turn line is guaranteed, good safety is achieved when the automatic driving vehicle turns around according to the U-turn line, the conventional driving habit of a driver is met, and the driving experience is improved.

    本申请公开了一种掉头线生成方法、系统及掉头方法,属于自动驾驶技术领域。该方法包括确定掉头的起始点和终止点;根据起始点和终止点确定多组掉头线控制点;利用起始点、终止点以及多组掉头线控制点对应生成多条贝塞尔曲线;计算贝塞尔曲线中各个点的曲率;在曲率符合相应的预设条件下,计算曲率的峰值和谷值的差值变化比例;将比例满足预设比例条件的贝塞尔曲线确定为掉头线。本申请利用贝塞尔曲线的生成方法,通过多个掉头线控制点生成掉头线,保证掉头线的平滑,提高自动驾驶车辆按照该掉头线进行掉头时,具有良好的安全性,符合驾驶员的常规驾驶习惯,提高驾乘体验。


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    Title :

    Turn-around line generation method and system and turn-around method


    Additional title:

    掉头线生成方法、系统及掉头方法


    Contributors:
    LIU TIANWEI (author) / LIU YUHAO (author) / ZHONG ZHENYU (author) / ZHAO XU (author) / SHAN LE (author)

    Publication date :

    2023-10-27


    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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