The invention discloses a reference line generation method, device and equipment. The method comprises the following steps: pre-generating a matching relationship between a lane and a lane steering type and between the lane and a traffic light; determining a lane topological relation of a reference line to be generated according to the road topological relation, the positioning information of the vehicle and the driving direction; determining a target traffic light corresponding to the reference line according to the lane topological relation and the matching relation; and determining the distance between the projection of the vehicle in the lane topological relation and the target traffic light, and generating a reference line according to the lane topological relation, the target traffic light and the distance. According to the technical scheme disclosed by the invention, the reference line is generated according to the lane topological relation of the to-be-generated reference line, the target traffic light corresponding to the to-be-generated reference line and the distance between the target traffic light and the projection of the vehicle in the lane topological relation, so that the generated reference line contains the traffic light information; therefore, information contained in the reference line where the vehicle is located is increased, and the operation efficiency of planning decision making is improved.
本申请公开了一种参考线生成方法、装置及设备,方法包括:预先生成车道与车道转向类型、红绿灯的匹配关系;根据道路拓扑关系、车辆的定位信息及行驶方向确定待生成的参考线的车道拓扑关系;根据车道拓扑关系及匹配关系确定参考线对应的目标红绿灯;确定车辆在车道拓扑关系中的投影与目标红绿灯之间的距离,根据车道拓扑关系、目标红绿灯及距离生成参考线。本申请公开的技术方案,根据待生成的参考线的车道拓扑关系、待生成的参考线对应的目标红绿灯及该目标红绿灯与车辆在车道拓扑关系中的投影间的距离生成参考线,以使得所生成的参考线中包含有红绿灯信息,从而增加车辆所在参考线所包含的信息,以便于提高规划决策的运算效率。
Reference line generation method, device and equipment
参考线生成方法、装置及设备
2024-07-12
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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