The invention discloses a driving track generation method, device and equipment for a vehicle, and the method comprises the steps: generating a first driving track according to a first current motion state of the vehicle, enabling the total driving cost of the vehicle between two adjacent points on the first driving track to be minimum, and enabling the total driving cost to comprise the longitudinal jerk cost; and outputting the first driving track. According to the method, the longitudinal jerk is considered in the driving cost of the vehicle, so that the deceleration process of the vehicle is smooth, the riding experience in the obstacle avoidance process is improved, and the overall driving safety is improved.
本发明公开了一种车辆的行驶轨迹生成方法、装置以及设备,行驶轨迹生成方法,包括:依据自车的第一当前运动状态生成第一行驶轨迹,第一行驶轨迹上相邻两点之间自车的行驶总代价最小,行驶总代价包括纵向加加速度代价;输出第一行驶轨迹。本发明通过将纵向加加速度考虑在车辆的行驶代价内,使得车辆的减速过程平缓,改善避障过程中的乘车体验,提高了行车的整体安全性。
Method, device and equipment for generating driving track of vehicle
一种车辆的行驶轨迹生成方法、装置以及设备
2023-03-21
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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