Title:
METHOD AND DEVICE FOR CALCULATING CURVATURE OF VEHICLE TRAJECTORY
Document Type and Number:
WIPO Patent Application WO/2019/047639
Kind Code:
A1
Abstract:
A method and device for calculating the curvature of a vehicle trajectory, wherein the method comprises: according to GPS information of a vehicle that is acquired in real time, acquiring a travelling trajectory of the vehicle by means of clothoid curve fitting (S201); calculating an observed value of the curvature of a certain trajectory point in the travelling trajectory (S202); according to a turning angle of a steering wheel of the vehicle corresponding to the trajectory point that is monitored in real time, acquiring a predicted value of the curvature of the trajectory point (S203); according to the observed value and predicted value of the trajectory point, acquiring an optimal value of the curvature of the trajectory point by using Kalman filtering. The method and device greatly increase accuracy in calculating the curvature of a vehicle trajecotry and may increase the feasibility of automatic driving when applied in a self-driving vehicle.
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Inventors:
JIANG YU (CN)
YU HAO (CN)
YAN YONGSHAN (CN)
ZHENG CHAO (CN)
TANG KUN (CN)
ZHANG YUNFEI (CN)
YU HAO (CN)
YAN YONGSHAN (CN)
ZHENG CHAO (CN)
TANG KUN (CN)
ZHANG YUNFEI (CN)
Application Number:
PCT/CN2018/098609
Publication Date:
March 14, 2019
Filing Date:
August 03, 2018
Export Citation:
Assignee:
BAIDU ONLINE NETWORK TECHNOLOGY BEIJING CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
CN107817790A | 2018-03-20 | |||
CN1577199A | 2005-02-09 | |||
CN103442970A | 2013-12-11 | |||
CN106515722A | 2017-03-22 | |||
US20100100267A1 | 2010-04-22 | |||
US20130179038A1 | 2013-07-11 |
Other References:
ZHAN, SHENG: "Research on Key Prediction Algorithms of Vehicle Active Safety System", SCIENCE -ENGINEERING (B), CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE, 15 December 2014 (2014-12-15), ISSN: 1674-022X
Attorney, Agent or Firm:
INSIGHT INTELLECTUAL PROPERTY LIMITED (CN)
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