The invention discloses a trajectory planning control implementation method for an automatic driving vehicle, and provides a path planning method for the automatic driving vehicle under a deterministic road framework, an uncertain road framework and a hybrid road framework aiming at the interpretability degree of a complex road scene. Determining various constraint conditions under various frame modes, adopting a reinforcement learning trajectory planning algorithm, performing trajectory planning in a credible security region, performing error optimization of an actually planned trajectory and a virtual security trajectory, and realizing design of a dynamic trajectory interval so as to ensure that the security interval of the reachable trajectory realizes dynamic mobility; and finally, realizing tracking control of path planning by adopting a fusion reinforcement learning and predictive control algorithm. According to the method, path planning control of the automatic driving vehicle in complex road and weather environments such as coastal cities is facilitated, and the risk of path planning caused by the road environment is better reduced.

    本发明公开了一种自动驾驶车辆轨迹规划控制实现方法,针对复杂道路场景的可解释性程度,提出了确定性道路框架、不确定性道路框架和混合性道路框架下自动驾驶车辆的路径规划方法,通过首先预设虚拟轨迹,确定各种框架模式下的各种约束条件,采用强化学习轨迹规划算法,在可信安全区域内进行轨迹规划,并进行实际规划的轨迹与虚拟安全轨迹的误差性优化,实现动态轨迹区间的设计,以确保可达轨迹的安全区间实现动态移动性;最终采用融合强化学习和预测控制算法实现路径规划的跟踪控制。本发明有助于自动驾驶车辆在沿海城市等复杂道路和天气环境下的路径规划控制实现,更好地降低道路环境带给路径规划的风险。


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    Titel :

    Automatic driving vehicle trajectory planning control implementation method


    Weitere Titelangaben:

    一种自动驾驶车辆轨迹规划控制实现方法


    Beteiligte:
    TANG XIAOFENG (Autor:in)

    Erscheinungsdatum :

    2022-07-22


    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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