The invention discloses an intelligent automobile track planning method considering dynamic pedestrian interaction. The method comprises the steps that 1, related road and pedestrian information is collected in real time; step 2, establishing a road entrance and exit potential function and a road boundary potential function; step 3, considering a pedestrian danger level and a maneuvering level, and establishing a pedestrian movement situation function based on a fuzzy rule; and 4, comprehensively superposing the road entrance and exit potential function, the road boundary potential function and the pedestrian movement situation function to obtain a resultant potential field considering the pedestrian trajectory, and planning the vehicle trajectory according to a gradient descent method based on the resultant potential field. According to the method, the road change trend and the road boundary range are considered, the road risk field is detailedly described by establishing the road entrance and exit potential function and the road boundary potential function, and the pedestrian interaction dynamic state is added, so that the traffic scene of mixed driving of pedestrians and vehicles can be more accurately described.
本发明公开了一种考虑动态行人交互的智能汽车轨迹规划方法,包括:步骤1,实时采集相关道路及行人信息;步骤2,建立道路出入口势函数和道路边界势函数;步骤3,考虑行人危险等级和机动等级,建立基于模糊规则的行人动态势函数;步骤4,综合叠加道路出入口势函数、道路边界势函数和行人动态势函数得到考虑行人轨迹的合力势场,基于合力势场,按照梯度下降的方法规划车辆的轨迹。本发明不仅考虑道路变化趋势以及道路边界范围,通过建立道路出入口势函数和道路边界势函数详细刻画了道路风险场,而且加入了行人的交互动态,能够更准确刻画人车混行的交通场景。
Intelligent automobile track planning method considering dynamic pedestrian interaction
一种考虑动态行人交互的智能汽车轨迹规划方法
2023-05-30
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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