CN111829540A - Driving track generation method and device, electronic equipment and storage medium - Google Patents
Driving track generation method and device, electronic equipment and storage medium Download PDFInfo
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- CN111829540A CN111829540A CN202010501357.3A CN202010501357A CN111829540A CN 111829540 A CN111829540 A CN 111829540A CN 202010501357 A CN202010501357 A CN 202010501357A CN 111829540 A CN111829540 A CN 111829540A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The application discloses a driving track generation method and device, electronic equipment and a storage medium, and relates to the field of automatic driving. The specific implementation scheme is as follows: determining a target Bezier curve corresponding to a first line of a roundabout scene, wherein the first line is a line which does not enter the roundabout; determining an annular curve corresponding to a second line of the roundabout scene, wherein the second line is a line in the roundabout; and generating the driving track of the roundabout scene according to the target Bezier curve and the annular curve, so that the driving track generation efficiency of the roundabout scene can be effectively improved, and the generation quality of the driving track is improved.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to the field of automatic driving technologies, and in particular, to a driving trajectory generation method and apparatus, an electronic device, and a storage medium.
Background
Due to the complex and diversified real traffic scenes, large-scale simulation testing becomes an indispensable loop in the iterative process of the automatic driving algorithm, and a manually edited scene is one of important components of the simulation testing.
In the related art, the approach points are usually added by means of manual editing, so that the driving track of the roundabout scene is generated in an auxiliary mode.
In this way, the generation efficiency of the driving track of the roundabout scene is not high, and the generated driving track is not smooth, resulting in low quality of the generated driving track.
Disclosure of Invention
The driving track generation method and device, the electronic equipment and the storage medium are provided, the driving track generation efficiency of a roundabout scene can be effectively improved, and the generation quality of the driving track is improved.
According to a first aspect, there is provided a driving trajectory generation method, including: determining a target Bezier curve corresponding to a first line of a roundabout scene, wherein the first line is a line which does not enter the roundabout; determining an annular curve corresponding to a second line of the roundabout scene, wherein the second line is a line in the roundabout; and generating a driving track of the roundabout scene according to the target Bezier curve and the annular curve.
According to the driving track generation method, the target Bezier curve corresponding to the first line of the roundabout scene is determined, the first line is a line which does not enter the roundabout, the annular curve corresponding to the second line of the roundabout scene is determined, the second line is a line in the roundabout, and the driving track of the roundabout scene is generated according to the target Bezier curve and the annular curve, so that the driving track generation efficiency of the roundabout scene can be effectively improved, and the generation quality of the driving track is improved.
According to a second aspect, there is provided a driving trajectory generation apparatus comprising: the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining a target Bezier curve corresponding to a first line of a roundabout scene, and the first line is a line which does not enter the roundabout; the second determining module is used for determining an annular curve corresponding to a second line of the roundabout scene, wherein the second line is a line in the roundabout; and the generating module is used for generating the driving track of the roundabout scene according to the target Bezier curve and the annular curve.
The driving track generation device of the embodiment of the application determines the target Bezier curve corresponding to the first line of the roundabout scene, the first line is a line which does not enter the roundabout, determines the annular curve corresponding to the second line of the roundabout scene, and the second line is a line in the roundabout and generates the driving track of the roundabout scene according to the target Bezier curve and the annular curve, so that the driving track generation efficiency of the roundabout scene can be effectively improved, and the generation quality of the driving track is improved.
According to a third aspect, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the driving trajectory generation method of the embodiment of the application.
The electronic equipment provided by the embodiment of the application determines the target Bezier curve corresponding to the first line of the roundabout scene, the first line is a line which does not enter the roundabout, determines the annular curve corresponding to the second line of the roundabout scene, and the second line is a line in the roundabout and generates the driving track of the roundabout scene according to the target Bezier curve and the annular curve, so that the driving track generation efficiency of the roundabout scene can be effectively improved, and the generation quality of the driving track is improved.
According to a fourth aspect, a non-transitory computer-readable storage medium is proposed, having stored thereon computer instructions for causing a computer to execute the driving trajectory generation method disclosed in the embodiments of the present application.
According to the technical scheme, the technical problems that the generation efficiency of the driving track of the roundabout scene is not high, and the generated driving track is not smooth, so that the generated driving track is not high in quality are solved, the driving track generation efficiency of the roundabout scene is effectively improved, and the generation quality of the driving track is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic diagram according to a first embodiment of the present application;
FIG. 2 is a schematic diagram according to a second embodiment of the present application;
FIG. 3 is a schematic view of a roundabout scenario in an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating an application of determining a control point according to an embodiment of the present application;
FIG. 5 is a schematic illustration according to a third embodiment of the present application;
FIG. 6 is a schematic illustration according to a fourth embodiment of the present application;
FIG. 7 is a schematic illustration according to a fifth embodiment of the present application;
fig. 8 is a block diagram of an electronic device for implementing a driving trajectory generation method according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram according to a first embodiment of the present application. It should be noted that an execution subject of the driving trajectory generation method of this embodiment is a driving trajectory generation device, which may be implemented in a software and/or hardware manner, and the device may be configured in an electronic device, and the electronic device may include, but is not limited to, a terminal, a server, and the like.
As shown in fig. 1, the driving trajectory generation method may include:
s101: and determining a target Bezier curve corresponding to a first line of the roundabout scene, wherein the first line is a line which does not enter the roundabout.
The roundabout scene refers to the embodiment of an actual traffic scene containing the roundabout in the simulation test equipment.
In the embodiment of the application, a circuit of an island scene presented by simulation test equipment may be divided in advance, and the circuit of the island scene is divided into a circuit which does not enter the island and a circuit in the island, where the circuit which does not enter the island may be referred to as a first circuit, the circuit in the island may be referred to as a second circuit, and the island scene may be divided to obtain a circuit out of the island, and the circuit out of the island may be referred to as a third circuit.
Because the line which does not enter the rotary island and the line in the rotary island scene generally present different line characteristics, for example, the line which does not enter the rotary island generally has specific directivity and is a non-annular line, and the line in the rotary island generally is an annular line, in the embodiment of the present application, the first line and the second line can be obtained by pre-dividing according to the line characteristics of the rotary island scene, so that the generation of the driving track can be better assisted.
In the embodiment of the application, a Bezier curve corresponding to a first line of a roundabout scene is fitted, the corresponding Bezier curve can be called a target Bezier curve, and the target Bezier curve obtained through fitting can be used for describing a driving track corresponding to a line which does not enter the roundabout.
The bezier curve is a vector curve including line segments and nodes, and the nodes mainly include control points and data points, that is, when the vector curve is formed, the data points and the control points may be first determined, and then the control points may be moved, thereby forming the vector curve according to respective positions of the moved control points and data points.
In a specific implementation process, the control points and the data points may be determined according to the shape characteristics, the direction, and the like of the first line, so as to fit the corresponding target bezier curve, or the control points and the data points may be determined according to the actual driving requirements of the user, so as to fit the corresponding target bezier curve, which is not limited to this.
In the embodiment of the present application, referring to fig. 2, fig. 2 is a schematic diagram according to a second embodiment of the present application, where determining a target bezier curve corresponding to a first line of a roundabout scene includes:
s201: a plurality of data points is determined based on the first line and the second line.
S202: and determining a control point according to the shape parameters of the rotary island and combining a plurality of data points.
The shape parameter of the ring island is, for example, the position coordinate where the inner ring of the ring island is located, the shape of the inner ring, and the like, and this is not limited.
S203: a target bezier curve is fitted from the plurality of data points and the control points.
When a plurality of data points are determined, the data points are determined by combining a first line (a line which does not enter the rotary island) and a second line (a line in the rotary island), so that the data points are determined according to the combination of the line which does not enter the rotary island and the line in the rotary island, and the control points are determined by combining the shape parameters and the data points of the whole rotary island, so that the cut-in characteristics between the line which does not enter the rotary island and the line in the rotary island can be effectively simulated, and the target Bessel curve obtained by fitting has higher reference value.
In a more specific example, the plurality of data points may be two data points, and the plurality of data points may be determined according to the first line and the second line, or may be one data point determined from the first line; the entry point between the first line and the second line is used as another data point, so that two data points are obtained, the generated driving track can be smoother at the intersection of the first line and the second line, and the generation quality of the driving track is guaranteed.
Referring to fig. 3, fig. 3 is a schematic diagram of a roundabout scenario in an embodiment of the present application, where when the roundabout scenario is presented in a simulation test device, a first line 31 and a second line 32 in the roundabout scenario respectively mark a centerline 311 of the first line and a centerline 321 of the second line, an entry point (the entry point may be labeled as P2) between the first line and the second line may be taken as another data point, and the entry point may specifically be, for example, a point where the centerline 311 and the centerline 321 are tangent, and when a data point is determined from the first line, a data point may be, for example, determined from the centerline 311 of the first line (the data point may be labeled as P1), so as to determine to obtain two data points P1 and P2.
In another embodiment, after the two data points P1 and P2 are determined, the inner ring line of the ring island is also determined according to the shape parameters of the ring island; determining a centerline between one data point and another data point; the intersection point of the central line and the inner loop line is used as a control point, a method for simply and conveniently determining the control point is provided, and the fitted target Bezier curve can be more fit with the overall shape characteristics of the roundabout scene.
Referring also to fig. 3, the inner ring line 33 of the ring island is also shown in fig. 3, and it is understood that the positions of the corresponding inner ring lines of the ring islands of different shape parameters may not be the same, and after the two data points P1 and P2 are determined, a center line between the two data points P1 and P2 is also used, and an intersection point of the center line and the inner ring line, which is an intersection point on the inner ring line near the data points P1 and P2, is used as the control point M.
As a clearer example, referring to fig. 4, fig. 4 is a schematic diagram of an application of determining a control point according to an embodiment of the present application, and fig. 4 shows data points P1 and P2, and a center line 41 between the data points P1 and P2, an inner loop line 42, and an intersection point 43 between the center line 41 and the inner loop line 42 (the intersection point 43 is the determined control point).
After the two data points P1 and P2 and the control point are determined as described above, a bezier curve may be fitted according to the plurality of data points and the control point, so as to obtain a target bezier curve corresponding to the first route, and then, when the driving trajectory is generated, the target bezier curve may be directly used as the driving trajectory corresponding to the generated first route.
S102: and determining an annular curve corresponding to a second line of the roundabout scene, wherein the second line is a line in the roundabout.
Alternatively, the annular curve may be a circular curve, or the annular curve may be a quasi-circular curve, an elliptical curve, or the like, without limitation.
In the embodiment of the application, the corresponding circular curve is obtained by fitting the line in the rotary island, so that the generated driving track is smoother, the application range is wider, and the driving track generation method is convenient to expand.
In the specific implementation process, a plurality of position points may be calibrated in the second line, so that a circular-like curve, an elliptical curve, and the like corresponding to the second line are obtained by fitting according to the position coordinates of the plurality of position points and by combining a curve fitting method in common mathematical knowledge, which is not limited herein.
In a specific implementation process of the present application, referring to fig. 5, fig. 5 is a schematic diagram according to a third embodiment of the present application, where determining a circular curve corresponding to a second line of a roundabout scene includes:
s501: and determining a cut-out point between the second line and a third line, wherein the third line is a line going out of the roundabout.
Referring also to fig. 3, the circuit (third circuit) 34 of the roundabout is also shown in fig. 3, and a cut-out point 35 between the second circuit and the third circuit can be determined, and a center line 341 of the third circuit 34 is also shown in fig. 3, then a point where the center line 321 of the second circuit and the center line 341 of the third circuit 34 are tangent can be taken as the cut-out point 35, and the cut-out point 35 can be labeled as P4.
S502: the target point is determined from within the second line.
Referring also to fig. 3 above, a location point may be arbitrarily determined on the centerline 321 of the second line and serves as the target point 36, and the target point 36 may be designated as P3.
S503: and fitting to obtain an annular curve corresponding to the second line according to the other data point, the cut-out point and the target point.
After determining another data point (the entry point P2), the cut-out point 35(P4), and the target point 36(P3), a circular curve can be fitted directly from the another data point (the entry point P2), the cut-out point 35(P4), and the target point 36(P3) and used as a circular curve corresponding to the second line.
A circular curve is fitted to another data point (the cut-in point P2), the cut-out point 35(P4), and the target point 36(P3), and for example, the coordinates of the center ca _ P and the radius of the island circle are calculated using another data point (the cut-in point P2), the cut-out point 35(P4), and the target point 36(P3), and the coordinates of the points on the circle between P2 and P4 are calculated step by step in a polar coordinate calculation manner using the direction of the obstacle vehicle at this time as the cut-in line P2, and 2 degrees as the step length, so that a circular curve is drawn as the fitted circular curve corresponding to the second line.
By determining a cut-out point between a second line and a third line, wherein the third line is a line for forming the roundabout, determining a target point from the second line, and fitting according to another data point, the cut-out point and the target point to obtain an annular curve corresponding to the second line, the characteristics of the line in the roundabout can be simulated more accurately by the fitted curve, and the generation effect of a subsequent driving track is ensured.
S103: and generating a driving track of the roundabout scene according to the target Bezier curve and the annular curve.
The target Bezier curve and the annular curve are obtained through fitting, and the target Bezier curve and the annular curve can be directly used as the driving track of the roundabout scene together.
In some other embodiments, a function of setting driving turns of the obstacle vehicle may also be provided, the obstacle vehicle is controlled to simulate an actual driving scene to drive for a set number of turns in the roundabout scene by manually setting the required driving turns, and the generated driving track is subjected to fine tuning correction in the driving process, so that the corrected driving track is used as the driving track of the roundabout scene, which is not limited to this.
The technical scheme provided by the embodiment of the application is suitable for generating smooth tracks in most roundabout scenes, effectively solves the technical problems of head mutation and unsmooth tracks in the original roundabout scene manual editing, improves the efficiency to a greater extent, and effectively supports the boundary capability evaluation work and the automatic driving scene system construction work.
In this embodiment, by determining a target bezier curve corresponding to a first line of a roundabout scene, where the first line is a line that does not enter the roundabout, and determining an annular curve corresponding to a second line of the roundabout scene, where the second line is a line in the roundabout, and generating a driving track of the roundabout scene according to the target bezier curve and the annular curve, the driving track generation efficiency of the roundabout scene can be effectively improved, and the generation quality of the driving track is improved.
In order to implement the above embodiments, the embodiments of the present application further provide a driving trajectory generation device.
Fig. 6 is a schematic diagram according to a fourth embodiment of the present application. As shown in fig. 6, the driving trajectory generation apparatus 600 includes a first determination module 601, a second determination module 602, and a generation module 603, wherein:
the first determining module 601 is configured to determine a target bezier curve corresponding to a first line of a roundabout scene, where the first line is a line that does not enter the roundabout.
A second determining module 602, configured to determine an annular curve corresponding to a second line of the roundabout scene, where the second line is a line in the roundabout.
The generating module 603 is configured to generate a driving track of the roundabout scene according to the target bezier curve and the circular curve.
In one embodiment of the present application, referring to fig. 7, the first determining module 601 includes:
the first determining submodule 6011 is configured to determine a plurality of data points according to the first line and the second line.
The second determining submodule 6012 is configured to determine a control point according to the shape parameter of the roundabout by combining the plurality of data points.
A fitting submodule 6013 configured to fit the target bezier curve according to the plurality of data points and the control points.
In an embodiment of the present application, the plurality of data points is two data points, and the first determining submodule 6011 is specifically configured to:
determining a data point from the first line;
and taking the point of entry between the first line and the second line as another data point, thereby obtaining two data points.
In an embodiment of the present application, the second determining submodule 6012 is specifically configured to:
determining an inner ring circuit of the roundabout according to the shape parameters of the roundabout;
determining a centerline between one data point and another data point;
and taking the intersection point of the middle line and the inner loop line as a control point.
In an embodiment of the present application, the second determining module 602 is specifically configured to:
determining a cut-out point between a second line and a third line, wherein the third line is a line for going out of the roundabout;
determining a target point from within the second line;
and fitting to obtain an annular curve corresponding to the second line according to the other data point, the cut-out point and the target point.
In one embodiment of the present application, the annular curve is a circular curve.
It should be noted that the foregoing explanation of the driving trajectory generation method is also applicable to the driving trajectory generation device of the present embodiment, and is not repeated here.
In this embodiment, by determining a target bezier curve corresponding to a first line of a roundabout scene, where the first line is a line that does not enter the roundabout, and determining an annular curve corresponding to a second line of the roundabout scene, where the second line is a line in the roundabout, and generating a driving track of the roundabout scene according to the target bezier curve and the annular curve, the driving track generation efficiency of the roundabout scene can be effectively improved, and the generation quality of the driving track is improved.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
As shown in fig. 8, fig. 8 is a block diagram of an electronic device for implementing a driving trajectory generation method according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 8, the electronic apparatus includes: one or more processors 801, memory 802, and interfaces for connecting the various components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 8 illustrates an example of a processor 801.
The memory 802 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the driving trajectory generation method provided herein. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the driving trajectory generation method provided by the present application.
The memory 802, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the first determining module 601, the second determining module 602, and the generating module 603 shown in fig. 6) corresponding to the driving trajectory generating method in the embodiment of the present application. The processor 801 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 802, that is, implements the driving trajectory generation method in the above-described method embodiments.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by use of an electronic device that executes the driving locus generating method, and the like. Further, the memory 802 may include high speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 802 optionally includes memory located remotely from the processor 801, which may be connected via a network to an electronic device that performs the driving trajectory generation method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device performing the driving trajectory generation method may further include: an input device 803 and an output device 804. The processor 801, the memory 802, the input device 803, and the output device 804 may be connected by a bus or other means, and are exemplified by a bus in fig. 8.
The input device 803 may receive input numeric or character information and generate key signal inputs related to user settings and function control of an electronic apparatus that performs the driving trace generation method, such as an input device of a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 804 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (14)
1. A driving trajectory generation method, comprising:
determining a target Bezier curve corresponding to a first line of a roundabout scene, wherein the first line is a line which does not enter the roundabout;
determining an annular curve corresponding to a second line of the roundabout scene, wherein the second line is a line in the roundabout;
and generating a driving track of the roundabout scene according to the target Bezier curve and the annular curve.
2. The method of claim 1, the determining a target Bezier curve corresponding to a first line of a roundabout scenario, comprising:
determining a plurality of data points from the first line and the second line;
determining a control point according to the shape parameters of the rotary island and the plurality of data points;
fitting the target Bezier curve according to the plurality of data points and the control points.
3. The method of claim 2, the plurality of data points being two data points, the determining a plurality of data points from the first line and the second line comprising:
determining a data point from the first line;
and taking an incision point between the first line and the second line as another data point, thereby obtaining the two data points.
4. The method of claim 3, the determining control points from the shape parameters of the islands in combination with the plurality of data points, comprising:
determining an inner ring circuit of the roundabout according to the shape parameters of the roundabout;
determining a centerline between the one data point and the another data point;
and taking the intersection point of the middle line and the inner ring line as the control point.
5. The method of claim 3, the determining a circular curve corresponding to a second line of the roundabout scenario comprising:
determining a cut-out point between the second line and a third line, wherein the third line is a line for going out of the roundabout;
determining a target point from within the second line;
and fitting to obtain an annular curve corresponding to the second line according to the other data point, the cut-out point and the target point.
6. The method of claim 5, wherein the circular curve is a circular curve.
7. A driving trajectory generation device comprising:
the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining a target Bezier curve corresponding to a first line of a roundabout scene, and the first line is a line which does not enter the roundabout;
the second determining module is used for determining an annular curve corresponding to a second line of the roundabout scene, wherein the second line is a line in the roundabout;
and the generating module is used for generating the driving track of the roundabout scene according to the target Bezier curve and the annular curve.
8. The apparatus of claim 7, the first determination module, comprising:
a first determining submodule for determining a plurality of data points from the first line and the second line;
the second determining submodule is used for determining a control point according to the shape parameters of the rotary island and the plurality of data points;
a fitting submodule for fitting the target Bezier curve according to the plurality of data points and the control points.
9. The apparatus of claim 8, the plurality of data points being two data points, the first determining submodule being further configured to:
determining a data point from the first line;
and taking an incision point between the first line and the second line as another data point, thereby obtaining the two data points.
10. The apparatus of claim 9, wherein the second determining submodule is specifically configured to:
determining an inner ring circuit of the roundabout according to the shape parameters of the roundabout;
determining a centerline between the one data point and the another data point;
and taking the intersection point of the middle line and the inner ring line as the control point.
11. The apparatus of claim 9, wherein the second determining module is specifically configured to:
determining a cut-out point between the second line and a third line, wherein the third line is a line for going out of the roundabout;
determining a target point from within the second line;
and fitting to obtain an annular curve corresponding to the second line according to the other data point, the cut-out point and the target point.
12. The device of claim 11, wherein the circular curve is a circular curve.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.
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