Relative positioning method of autonomous vehicle in planned trajectory

The invention discloses a novel relative positioning method of a vehicle in a planned track. According to the method, space-time trajectory discrete points defined in a mode of plane coordinates (x, y) + driving distance s + time t are used as planning trajectory input, vehicle absolute position coordinates P (x, y) and absolute time t are used as current state input, and a series of mathematical methods and operation steps are used for solving the problem of planning trajectory input. And outputting a'time nearest reference point 'and a'space nearest reference point' of the vehicle in the planned trajectory as relative positioning results. The'time nearest reference point 'and the'space nearest reference point' output by the relative positioning module have space-time continuity and smoothness, and high-quality relative positioning input is provided for a subsequent automatic driving control execution module. 一种新的车辆在规划轨迹中的相对定位方法。该方法通过"平面坐标(x,y)+行驶距离s+时间t"方式定义的"时空轨迹离散点"为规划轨迹输入，以车辆绝对位置坐标P(x,y)和绝对时刻t为当前状态输入，通过一