The invention discloses a method for planning a vehicle collision avoidance trajectory under a pedestrian crossing working condition. The method comprises the following steps: under the condition thata pedestrian crossing a street suddenly appears in front of a vehicle, planning a series of collision avoidance candidate trajectories specifically including path planning in space and motion planning in time; and then transmitting the candidate trajectories to an optimization module to perform multi-objective optimization according to safety, stability and traffic efficiency indexes to obtain anoptimal trajectory. According to the method, a safe, stable and efficient track is planned for the vehicle in real time under the working condition that pedestrians cross the street to achieve activecollision avoidance, so that the vehicle safely, stably and efficiently avoids obstacles.

    本发明公开了一种行人过街工况下车辆避撞轨迹的规划方法,当车辆前方突然出现过街的行人时,规划出一系列避撞候选轨迹,具体包括空间上的路径规划和时间上的运动规划;然后将该候选轨迹传输给优化模块以安全性、稳定性和交通高效性指标进行多目标优化得到一条最优轨迹。本发明在行人过街工况下给车辆实时规划一条安全稳定高效的轨迹以实现主动避撞,能够保证车辆安全稳定高效的避开障碍物。


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    Titel :

    Method for planning vehicle collision avoidance trajectory under pedestrian crossing working condition


    Weitere Titelangaben:

    一种行人过街工况下车辆避撞轨迹的规划方法


    Beteiligte:
    WANG CHUNYAN (Autor:in) / FENG JIAN (Autor:in) / KUANG DENGMING (Autor:in) / ZHAO WANZHONG (Autor:in) / SHI SHUAIPENG (Autor:in) / YAN SHENXIANG (Autor:in) / HE PENG (Autor:in) / WU ZIHAN (Autor:in)

    Erscheinungsdatum :

    2020-07-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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