The invention discloses a reference line smoothing method, which comprises the following steps of: according to vehicle positioning, intercepting a first section of reference line on an original reference line, performing equidistant sampling to obtain interpolation points, and constructing a first B spline curve based on a cubic quasi-uniform B spline; a reference line is extended along with the advancing of the vehicle, the tail point of the first reference line is taken as a starting point to extend forwards to intercept a second reference line, equidistant sampling is carried out to obtain interpolation points, and a second B-spline curve is constructed based on a cubic quasi-uniform B-spline; selecting at least part of control vertexes of the first B-spline curve and the second B-spline curve, and constructing a third B-spline curve; and selecting a splicing point in an overlapping region of the first B spline curve and the third B spline curve, splicing the two curves, and finally obtaining and outputting a current smooth reference line. The invention further discloses a corresponding system, a storage medium and a vehicle. By implementing the method, the C2 continuous smooth reference line can be obtained, and the method has the advantages of being simple in construction method, small in calculation amount and stable in structure.

    本发明公开了一种参考线平滑方法,包括步骤:根据车辆定位,在原参考线上截取第一段参考线,等距采样得到插值点,并基于三次准均匀B样条构造第一B样条曲线;随着车辆前进延伸参考线,以第一段参考线尾点为起点向前延伸截取第二段参考线,等距采样得到插值点,并基于三次准均匀B样条构造第二B样条曲线;选取第一B样条曲线和第二B样条曲线的至少部分控制顶点,并构造第三B样条曲线;在第一B样条曲线和第三B样条曲线重叠区域选择一拼接点,将两条曲线进行拼接,最终获得当前平滑参考线并输出。本发明还公开了相应的系统、存储介质及车辆。实施本发明,能获得C2连续的平滑参考线,具有构造方法简单、计算量小且结构稳定的优点。


    Access

    Download


    Export, share and cite



    Title :

    Reference line smoothing method and system, vehicle and storage medium


    Additional title:

    一种参考线平滑方法、系统、车辆及存储介质


    Contributors:
    LI YUAN (author) / LI XUAN (author) / HU YUNHAO (author) / ZHENG ZHIXIAO (author) / ZHONG GUOQI (author) / ZHANG ZHIDE (author)

    Publication date :

    2024-06-18


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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

    HU RUZHOU / YU CHUNJIANG / LI YAO et al. | European Patent Office | 2023

    Free access

    Planned path reference line smoothing method based on curvature constraint pre-smoothing

    XIU HAILIN / WANG YAONONG / YU WEI | European Patent Office | 2023

    Free access

    Extra-freedom stitch method for reference line smoothing

    ZHU FAN | European Patent Office | 2021

    Free access

    EXTRA-FREEDOM STITCH METHOD FOR REFERENCE LINE SMOOTHING

    ZHU FAN | European Patent Office | 2020

    Free access

    Driving reference line calculation method and system, vehicle, equipment and storage medium

    YANG CHENGCHENG / YAN XINQING / DENG QIHUI et al. | European Patent Office | 2023

    Free access