CN113650618B - Vehicle track determination method and related device - Google Patents

Abstract

The embodiment of the application discloses a vehicle track determining method and a related device.A processing device can acquire a driving parameter corresponding to a target vehicle in a target time period, then determine a driving behavior corresponding to the target vehicle in the target time period according to the driving parameter, and determine a track determining parameter corresponding to the driving behavior, wherein the track determining parameter can embody a driving condition corresponding to the driving behavior. After the driving track of the target vehicle in the target time period is determined according to the track determination parameter, the driving track can accurately reflect the driving behavior of the driver of the target vehicle in the target time period, so that the driving track can be more fit with the actual driving condition of the target vehicle, and the accuracy and the reasonability of the driving track are improved.

Description

Vehicle track determination method and related device

Technical Field

The present application relates to the field of vehicle driving technologies, and in particular, to a vehicle trajectory determination method and a related apparatus.

Background

Driving travel is one of the popular choices for people to travel. In order to improve driving safety, it is essential to analyze a driving trajectory of a vehicle, and for example, by analyzing a driving trajectory of a vehicle ahead of a vehicle driven by a user, the user can drive the vehicle on a safer route.

In the related art, the track of the front vehicle is usually determined by curve fitting based on the track points corresponding to the front vehicle, but the accuracy of the fitting method is low, and the safety of the user in driving the vehicle is difficult to improve.

Disclosure of Invention

In order to solve the technical problem, the application provides a vehicle track determining method, and a processing device may determine a corresponding track determination parameter based on a driving behavior of a driver corresponding to a target vehicle, and determine a driving track of the target vehicle based on the track determination parameter, so that the driving track is more in line with an actual driving situation of the target vehicle, and the accuracy and the reasonableness of the driving track are improved.

The embodiment of the application discloses the following technical scheme:

in a first aspect, an embodiment of the present application discloses a vehicle trajectory determination method, where the method includes:

acquiring corresponding driving parameters of a target vehicle in a target time period;

determining the corresponding driving behavior of the target vehicle in the target time period according to the running parameters;

determining a track determination parameter corresponding to the driving behavior;

and determining the running track of the target vehicle in the target time period according to the track determination parameters.

In one possible implementation, the determining the driving track of the target vehicle in the target time period according to the track determination parameter includes:

acquiring a running track point corresponding to the target vehicle in the target time period;

and according to the track determination parameters, carrying out track fitting on the running track points to obtain the running track of the target vehicle in the target time period.

In one possible implementation, the method further includes:

determining a track inflection point corresponding to the driving track, wherein the track inflection point is a point of which the inflection angle in the driving track is greater than a preset threshold value;

determining a first target driving behavior corresponding to the track tortuous point according to the driving parameters;

determining a clothoid curve corresponding to the first target driving behavior;

and correcting the track inflection point according to the clothoid curve.

In one possible implementation, the driving parameter includes at least one of a speed parameter, an acceleration parameter, a steering wheel variation parameter, and a pedal variation parameter.

In a possible implementation manner, the driving behaviors include a plurality of driving behaviors, and performing trajectory fitting on the travel trajectory points according to the trajectory determination parameters to obtain the travel trajectory of the target vehicle in the target time period includes:

dividing the driving track points according to the behavior time corresponding to the driving behaviors to obtain a driving track point set corresponding to each driving behavior;

for a second target driving behavior in the driving behaviors, determining parameters according to a track corresponding to the second target driving behavior, and performing track fitting on driving track points in a driving track point set corresponding to the second target driving behavior to obtain a sub-driving track corresponding to the second target driving behavior;

and determining the running track of the target vehicle in the target time period according to the sub-running tracks corresponding to the plurality of driving behaviors respectively.

In a second aspect, an embodiment of the present application discloses a vehicle trajectory determination device, which includes an acquisition unit, a first determination unit, a second determination unit, and a third determination unit:

the acquisition unit is used for acquiring the driving parameters corresponding to the target vehicle in the target time period;

the first determining unit is used for determining the corresponding driving behavior of the target vehicle in the target time period according to the running parameters;

the second determining unit is used for determining a track determination parameter corresponding to the driving behavior;

and the third determining unit is used for determining the running track of the target vehicle in the target time period according to the track determining parameters.

In a possible implementation manner, the third determining unit is specifically configured to:

acquiring a running track point corresponding to the target vehicle in the target time period;

and according to the track determination parameters, carrying out track fitting on the running track points to obtain the running track of the target vehicle in the target time period.

In one possible implementation manner, the apparatus further includes a fourth determining unit, a fifth determining unit, a sixth determining unit, and a correcting unit:

the fourth determining unit is configured to determine a trajectory inflection point corresponding to the driving trajectory, where the trajectory inflection point is a point in the driving trajectory where a inflection angle is greater than a preset threshold;

the fifth determining unit is used for determining a first target driving behavior corresponding to the track tortuous point according to the driving parameters;

the sixth determining unit is configured to determine a clothoid corresponding to the first target driving behavior;

and the correction unit is used for correcting the track inflection point according to the clothoid curve.

In one possible implementation, the driving parameter includes at least one of a speed parameter, an acceleration parameter, a steering wheel variation parameter, and a pedal variation parameter.

In a possible implementation manner, the driving behavior includes a plurality of driving behaviors, and the third determining unit is specifically configured to:

dividing the driving track points according to the behavior time corresponding to the driving behaviors to obtain a driving track point set corresponding to each driving behavior;

for a second target driving behavior in the driving behaviors, determining parameters according to a track corresponding to the second target driving behavior, and performing track fitting on driving track points in a driving track point set corresponding to the second target driving behavior to obtain a sub-driving track corresponding to the second target driving behavior;

and determining the running track of the target vehicle in the target time period according to the sub-running tracks corresponding to the plurality of driving behaviors respectively.

According to the technical scheme, in order to improve the running track and the reasonability, the running track corresponding to the target vehicle can be determined based on the driving behavior corresponding to the target vehicle, so that the running track can be more fit with the actual running condition of the target vehicle. Firstly, the driving parameters corresponding to the target vehicle in the target time period can be obtained, and then the driving behaviors of the target vehicle in the target time period are determined according to the driving parameters. In order to be able to determine the driving trajectory reasonably, a trajectory determination parameter corresponding to the driving behavior may be determined, which may reflect the driving situation corresponding to the driving behavior. Therefore, after the driving track of the target vehicle in the target time period is determined according to the track determination parameter, the driving track can accurately reflect the driving behavior of the driver of the target vehicle in the target time period, so that the driving track can be more fit with the actual driving condition of the target vehicle, and the accuracy and the reasonability of the driving track are improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic diagram of a vehicle trajectory determination method in an actual application scenario according to an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle trajectory determination method provided by an embodiment of the present application;

fig. 3 is a flowchart of a method for determining a vehicle trajectory in an actual application scenario according to an embodiment of the present application;

fig. 4 is a block diagram of a vehicle trajectory determination device according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described below with reference to the accompanying drawings.

The driving track of the vehicle is one of important parameters for analyzing the vehicle motion, and accurate determination of the driving track is beneficial to effective implementation of a series of technologies such as vehicle navigation and automatic obstacle avoidance. In the related art, the driving track points corresponding to the target vehicle can be collected first, and then the driving track is obtained by performing curve fitting on the driving track points. However, since the driving condition of the vehicle may be variable, it is difficult to reflect the actual driving condition of the vehicle based on such a simple fitting manner.

In order to solve the technical problem, the application provides a vehicle track determining method, and a processing device may determine a corresponding track determination parameter based on a driving behavior of a driver corresponding to a target vehicle, and determine a driving track of the target vehicle based on the track determination parameter, so that the driving track is more suitable for an actual driving situation of the target vehicle, and the accuracy and the reasonableness of the driving track are improved.

It is to be understood that the method may be applied to a processing device having a vehicle trajectory determination function, for example, a terminal device or a server having a vehicle trajectory determination function. The method is independently executed by the terminal equipment or the server, can also be applied to a network scene of communication between the terminal equipment and the server, and is operated by the cooperation of the terminal equipment and the server. The terminal device may be a mobile phone, a desktop computer, a Personal Digital Assistant (PDA for short), a tablet computer, or the like. The server may be understood as an application server, or may also be a Web server, and in actual deployment, the server may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers. The terminal and the server may be directly or indirectly connected through wired or wireless communication, and the application is not limited herein.

In order to facilitate understanding of the technical solution provided by the embodiment of the present application, a vehicle trajectory determination method provided by the embodiment of the present application will be introduced in combination with an actual application scenario.

Referring to fig. 1, fig. 1 is a schematic diagram of a method for determining a vehicle trajectory in an actual application scenario provided by the embodiment of the present application, where a processing device is a server 101.

First, the server 101 may obtain a driving parameter corresponding to a target vehicle in a target time period, where the driving parameter may be, for example, a steering wheel rotation parameter, an acceleration change parameter, and the like corresponding to the target vehicle, and these driving parameters may reflect a control behavior of a driver on the target vehicle. Thus, according to the driving parameters, the server 101 may determine the corresponding driving behavior of the target vehicle within the target time period.

In order to determine a more reasonable driving track and make the driving track more fit with the actual driving situation of the target vehicle, the server 101 may determine a track determination parameter corresponding to the driving behavior, where the track determination parameter is used to embody the characteristics corresponding to the driving behavior. Therefore, according to the trajectory determination parameter, the server 101 may determine the travel trajectory of the target vehicle in the target time period, so that the travel trajectory can embody the characteristics corresponding to the driving behavior. The running track determined by the method can be relatively attached to the actual running condition of the target vehicle, so that the reasonability and the accuracy of the running track are improved.

Next, a vehicle track determining method provided in an embodiment of the present application will be described with reference to the accompanying drawings. Referring to fig. 2, fig. 2 is a flowchart of a vehicle trajectory determination method provided in an embodiment of the present application, where the method includes:

s201: and acquiring the corresponding running parameters of the target vehicle in the target time period.

The target time period can be any period of time, and the target vehicle can also be any vehicle. In order to accurately fit the driving track of the target vehicle, the processing device may analyze the driving behavior corresponding to the target vehicle, so as to determine the driving track that is more suitable for the actual action of the target vehicle.

First, the processing device may obtain a driving parameter corresponding to the target vehicle in the target time period, where the driving parameter is used to reflect a driving behavior corresponding to the target vehicle. The driving parameter may include a plurality of parameters, and in one possible implementation, the driving parameter may include at least one of a speed parameter, an acceleration parameter, a steering wheel variation parameter and a pedal variation parameter, the speed parameter is used for representing a vehicle speed variation condition of the target vehicle, the acceleration parameter is used for representing an acceleration variation condition of the target vehicle, the steering wheel variation parameter may represent a steering condition of the steering wheel by the driver when the driver drives the target vehicle in the target time period, and the pedal variation parameter may represent a steering condition of the pedal by the driver when the driver drives the target vehicle in the target time period.

S202: and determining the corresponding driving behavior of the target vehicle in the target time period according to the running parameters.

Through the driving parameters, the processing device can determine the driving behavior corresponding to the target vehicle according to the driving condition of the target vehicle in the target time period. For example, if it can be determined that the target vehicle performs operations of decelerating and steering in the target time period based on the vehicle speed parameter and the steering wheel variation parameter, the driving behavior of the target vehicle in the target time period is a deceleration evasion obstacle with a high probability; if the target vehicle performs the behavior of accelerating and turning within the target time period, the overtaking operation is performed with a high probability.

S203: and determining a track determination parameter corresponding to the driving behavior.

In order to enable the determined driving trajectory to conform to the driving behavior corresponding to the target vehicle, the processing device may set, in advance, a corresponding trajectory determination parameter for determining the driving trajectory of the corresponding driving behavior for each driving behavior. For example, the trajectory determination parameter may be a trajectory determination equation, and the trajectory determination method may be used to fit the travel trajectory.

S204: and determining the running track of the target vehicle in the target time period according to the track determination parameters.

According to the technical scheme, in order to improve the running track and the reasonableness, the running track corresponding to the target vehicle can be determined based on the driving behavior corresponding to the target vehicle, so that the running track can be more fit with the actual running condition of the target vehicle. Firstly, the driving parameters corresponding to the target vehicle in the target time period can be obtained, and then the driving behavior of the target vehicle in the target time period is determined according to the driving parameters. In order to reasonably determine the driving track, the track determination parameter corresponding to the driving behavior can be determined, and the track determination parameter can embody the driving condition corresponding to the driving behavior. Therefore, after the driving track of the target vehicle in the target time period is determined according to the track determination parameter, the driving track can accurately reflect the driving behavior of the driver of the target vehicle in the target time period, so that the driving track can be more fit with the actual driving condition of the target vehicle, and the accuracy and the reasonability of the driving track are improved.

The manner of determining the travel trajectory based on the trajectory determination parameter may also include various manners. In a possible implementation manner, the processing device may obtain a driving track point corresponding to the target vehicle in the target time period, where the driving track point may be acquired by the processing device according to conditions such as a certain time interval or a certain distance interval.

The processing device can perform track fitting on the driving track points according to the track determination parameters to obtain the driving track of the target vehicle in the target time period.

Specifically, when the target vehicle performs a plurality of driving behaviors in the target time period, in order to further improve the accuracy of the driving trajectory, in a possible implementation manner, the processing device may divide the driving trajectory points according to behavior time corresponding to the driving behaviors to obtain a driving trajectory point set corresponding to each driving behavior, where the behavior time is time when the driving behavior occurs in the target time period. Subsequently, for a second target driving behavior in the driving behaviors, the processing device may determine a parameter according to a trajectory corresponding to the second target driving behavior, and perform trajectory fitting on the driving trajectory points in the driving trajectory point set corresponding to the second target driving behavior to obtain a sub-driving trajectory corresponding to the second target driving behavior. The processing device may perform the above operation for each driving behavior in the target time period to determine a corresponding sub-driving track, and finally may determine the driving track of the target vehicle in the target time period according to the sub-driving tracks corresponding to the multiple driving behaviors, so that the driving track may accurately reflect each driving behavior in the target time period.

It is understood that, since the actual driving situation of the target vehicle may be complex, for example, there may be many emergencies in the road of the target time period, there may be a portion with a rapid change in the driving track corresponding to the target vehicle. For example, when an obstacle that disturbs the travel suddenly appears on the road, the target vehicle may make an emergency avoidance, which results in a large meandering determined travel trajectory.

In one possible implementation, in order to improve the reasonableness of the driving track and facilitate the subsequent application of the driving track, the processing device may perform smooth transition on the driving track inflection point based on the driving behavior corresponding to the trajectory inflection point. First, the processing device may determine a trajectory inflection point corresponding to the driving trajectory, where the trajectory inflection point is a point in the driving trajectory where a inflection angle is greater than a preset threshold, and the preset threshold may be a threshold obtained based on analysis of a large number of driving trajectories. The processing device may analyze the driving behavior of the driver according to the driving parameters acquired in the above process, determine a first target driving behavior corresponding to the trajectory inflection point, and then determine a clothoid corresponding to the first target driving behavior, where the clothoid is used to perform smooth transition on the trajectory inflection point. The processing device can correct the trajectory inflection point according to the clothoid curve, so that a smoother running trajectory is obtained, and the subsequent application of the running trajectory is facilitated, for example, the running trajectory can be simulated and tracked by other vehicles, and the driving experience of a user is improved.

For example, if the driving behavior corresponding to the trajectory inflection point is to avoid the obstacle once, the smooth transition may be performed in advance through a clothoid curve, and if the driving behavior is to continuously avoid the obstacle, the smooth transition may be performed by using a clothoid curve with a small angle, so as to ensure that the obstacle can be avoided in time, and improve the driving safety.

In order to facilitate understanding of the technical solution provided by the embodiment of the present application, a vehicle trajectory determination method provided by the embodiment of the present application will be introduced in combination with an actual application scenario.

Referring to fig. 3, fig. 3 is a flowchart of a method for determining a vehicle trajectory in an actual application scenario provided by the embodiment of the present application, in the actual application scenario, a processing device may be a vehicle-mounted terminal, and a determined driving trajectory may be used for tracking a target vehicle. The method comprises the following steps:

s301: and acquiring the corresponding running parameters of the target vehicle in the target time period.

S302: and determining the corresponding driving behavior of the target vehicle in the target time period according to the running parameters.

S303: and determining a track determination parameter corresponding to the driving behavior.

S304: and acquiring the corresponding running track points of the target vehicle in the target time period.

S305: and dividing the driving track points according to the behavior time corresponding to the driving behaviors to obtain a driving track point set corresponding to each driving behavior.

S306: and aiming at a second target driving behavior in the driving behaviors, determining parameters according to a track corresponding to the second target driving behavior, and performing track fitting on the driving track points in the driving track point set corresponding to the second target driving behavior to obtain a sub-driving track corresponding to the second target driving behavior.

S307: and determining the running track of the target vehicle in the target time period according to the sub-running tracks corresponding to the plurality of driving behaviors respectively.

S308: and determining a track inflection point corresponding to the driving track.

S309: and determining a first target driving behavior corresponding to the track tortuosity point.

S310: and determining a clothoid curve corresponding to the first target driving behavior.

S311: and correcting the track inflection point according to the clothoid curve.

Based on the vehicle track determination method provided in the foregoing embodiment, an embodiment of the present application further provides a vehicle track determination apparatus, referring to fig. 4, fig. 4 is a block diagram of a vehicle track determination apparatus 400 provided in the embodiment of the present application, where the apparatus 400 includes an obtaining unit 401, a first determining unit 402, a second determining unit 403, and a third determining unit 404:

an obtaining unit 401, configured to obtain a driving parameter corresponding to a target vehicle in a target time period;

a first determining unit 402, configured to determine, according to the driving parameter, a driving behavior of the target vehicle within the target time period;

a second determining unit 403, configured to determine a trajectory determination parameter corresponding to the driving behavior;

a third determining unit 404, configured to determine, according to the trajectory determination parameter, a travel trajectory of the target vehicle in the target time period.

In a possible implementation manner, the third determining unit 404 is specifically configured to:

acquiring a running track point corresponding to the target vehicle in the target time period;

and according to the track determination parameters, carrying out track fitting on the running track points to obtain the running track of the target vehicle in the target time period.

In one possible implementation, the apparatus 400 further includes a fourth determining unit, a fifth determining unit, a sixth determining unit, and a modifying unit:

a fourth determining unit, configured to determine a trajectory inflection point corresponding to the travel trajectory, where the trajectory inflection point is a point in the travel trajectory where a inflection angle is greater than a preset threshold;

a fifth determining unit, configured to determine a first target driving behavior corresponding to the trajectory inflection point;

a sixth determining unit, configured to determine a clothoid corresponding to the first target driving behavior;

and the correction unit is used for correcting the track inflection point according to the clothoid curve.

In one possible implementation, the driving parameter includes at least one of a speed parameter, an acceleration parameter, a steering wheel variation parameter, and a pedal variation parameter.

In a possible implementation manner, the driving behaviors include a plurality of driving behaviors, and the third determining unit 404 is specifically configured to:

dividing the driving track points according to the behavior time corresponding to the driving behaviors to obtain a driving track point set corresponding to each driving behavior;

for a second target driving behavior in the driving behaviors, determining parameters according to a track corresponding to the second target driving behavior, and performing track fitting on driving track points in a driving track point set corresponding to the second target driving behavior to obtain a sub-driving track corresponding to the second target driving behavior;

and determining the running track of the target vehicle in the target time period according to the sub-running tracks corresponding to the plurality of driving behaviors respectively.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium may be at least one of the following media: various media that can store program codes, such as read-only memory (ROM), RAM, magnetic disk, or optical disk.

It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the apparatus and system embodiments, because they are substantially similar to the method embodiments, are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (6)

1. A vehicle trajectory determination method, characterized in that the method comprises:

acquiring a driving parameter corresponding to a target vehicle in a target time period;

determining the corresponding driving behavior of the target vehicle in the target time period according to the running parameters;

determining a track determination parameter corresponding to the driving behavior;

determining the running track of the target vehicle in the target time period according to the track determination parameter, wherein the step of determining the running track of the target vehicle in the target time period comprises the following steps: acquiring a running track point corresponding to the target vehicle in the target time period; according to the track determination parameters, carrying out track fitting on the running track points to obtain the running track of the target vehicle in the target time period;

the driving behaviors comprise a plurality of driving behaviors, the track fitting is carried out on the driving track points according to the track determination parameters to obtain the driving track of the target vehicle in the target time period, and the method comprises the following steps: dividing the driving track points according to the behavior time corresponding to the driving behaviors to obtain a driving track point set corresponding to each driving behavior; for a second target driving behavior in the driving behaviors, determining parameters according to a track corresponding to the second target driving behavior, and performing track fitting on driving track points in a driving track point set corresponding to the second target driving behavior to obtain a sub-driving track corresponding to the second target driving behavior; and determining the running track of the target vehicle in the target time period according to the sub-running tracks corresponding to the plurality of driving behaviors respectively.

2. The method of claim 1, further comprising:

determining a track inflection point corresponding to the driving track, wherein the track inflection point is a point of which the inflection angle in the driving track is greater than a preset threshold value;

determining a first target driving behavior corresponding to the track tortuous point according to the driving parameters;

determining a clothoid curve corresponding to the first target driving behavior;

and correcting the track inflection point according to the clothoid curve.

3. The method of claim 1, wherein the driving parameters include at least one of a speed parameter, an acceleration parameter, a steering wheel variation parameter, and a pedal variation parameter.

4. A vehicle track determination apparatus, characterized in that the apparatus comprises an acquisition unit, a first determination unit, a second determination unit, and a third determination unit:

the acquisition unit is used for acquiring the driving parameters corresponding to the target vehicle in the target time period;

the first determining unit is used for determining the corresponding driving behavior of the target vehicle in the target time interval according to the running parameters;

the second determining unit is used for determining a track determination parameter corresponding to the driving behavior;

the third determining unit is used for determining the running track of the target vehicle in the target time period according to the track determining parameter;

the third determining unit is specifically configured to: acquiring a driving track point corresponding to the target vehicle in the target time interval; according to the track determination parameters, carrying out track fitting on the running track points to obtain the running track of the target vehicle in the target time period;

the driving behaviors include a plurality of driving behaviors, and the third determining unit is specifically configured to: dividing the driving track points according to the behavior time corresponding to the driving behaviors to obtain a driving track point set corresponding to each driving behavior; for a second target driving behavior in the driving behaviors, determining parameters according to a track corresponding to the second target driving behavior, and performing track fitting on driving track points in a driving track point set corresponding to the second target driving behavior to obtain a sub-driving track corresponding to the second target driving behavior; and determining the running track of the target vehicle in the target time period according to the sub-running tracks corresponding to the plurality of driving behaviors respectively.

5. The apparatus according to claim 4, characterized in that the apparatus further comprises a fourth determining unit, a fifth determining unit, a sixth determining unit and a correcting unit:

the fourth determining unit is configured to determine a trajectory inflection point corresponding to the driving trajectory, where the trajectory inflection point is a point in the driving trajectory where a inflection angle is greater than a preset threshold;

the fifth determining unit is used for determining a first target driving behavior corresponding to the track tortuous point according to the driving parameters;

the sixth determining unit is configured to determine a clothoid corresponding to the first target driving behavior;

and the correction unit is used for correcting the track inflection point according to the clothoid curve.

6. The apparatus of claim 4, wherein the driving parameter comprises at least one of a speed parameter, an acceleration parameter, a steering wheel variation parameter, and a pedal variation parameter.

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