The invention relates to a decoupling automatic driving vehicle real-time trajectory planning method, device and system, and belongs to the field of automatic driving. A three-dimensional space trajectory planning problem is decoupled into two two-dimensional trajectory planning problems; and obtaining a rough path and a trapezoidal corridor by using a cell decomposition method and a dynamic programming algorithm under each two-dimensional problem, performing optimization solution on each two-dimensional problem in the trapezoidal corridor by using a quadratic programming algorithm, and finally obtaining a feasible trajectory through trajectory combination. The problems that a three-dimensional problem is difficult to solve during trajectory planning of an automatic driving vehicle, a trajectory obtained by using a sampling method is not optimal and is not suitable for a complex urban road scene, and small obstacles can appear in a discrete planning space and cannot be processed are solved, and a collision-free, executable and efficient trajectory can be planned in real time.
本发明涉及一种解耦的自动驾驶车辆实时轨迹规划方法、装置及系统,属于自动驾驶领域,通过将一个三维空间的轨迹规划问题解耦为两个二维的轨迹规划问题,并在每个二维问题下利用单元格分解法与动态规划算法得到粗略路径与梯形走廊,同时利用二次规划算法在梯形走廊内对每个二维问题进行优化求解,最后通过轨迹合并得到可行轨迹。解决了自动驾驶车辆在轨迹规划时三维问题难以求解、使用采样方法得到的轨迹并非最优且不适用于复杂城市道路场景、以及离散规划空间会出现小障碍物无法处理等问题,能够实时规划出无碰撞、可执行、高效的轨迹。
Decoupled autonomous vehicle real-time trajectory planning method, device and system
一种解耦的自动驾驶车辆实时轨迹规划方法、装置及系统
2022-07-08
Patent
Elektronische Ressource
Chinesisch
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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Europäisches Patentamt | 2024
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