The invention provides a trajectory planning method and device, a vehicle, electronic equipment and a readable storage medium, and the method comprises the steps: obtaining vehicle state information which comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration in a vehicle coordinate system, and a first displacement, a first speed and a first acceleration in a first direction in a Frenet coordinate system; the second displacement, the second speed and the second acceleration in the second direction under the Frenet coordinate system are obtained; according to the vehicle state information, track planning is conducted on the first direction and the second direction under a Frenet coordinate system, and a first track corresponding to the first direction and a second track corresponding to the second direction are obtained; combining the first track and the second track to obtain a third track; and converting the third track from the Frenet coordinate system to a Cartesian coordinate system to obtain a target track. Therefore, the target trajectory needs to consider the constraint of the centripetal acceleration, so that the target trajectory can contain the road curvature characteristics, and the comfort is effectively improved.
本申请提供了一种轨迹规划方法、装置、车辆、电子设备及可读存储介质,方法包括:获取车辆状态信息,车辆状态信息包括车辆坐标系下的车辆位置、航向角、车辆速度、车辆加速度,Frenet坐标系下沿第一方向的第一位移、第一速度和第一加速度,以及Frenet坐标系下沿第二方向的第二位移、第二速度和第二加速度;根据车辆状态信息,在Frenet坐标系下分别对第一方向和第二方向进行轨迹规划,得到第一方向对应的第一轨迹和第二方向对应的第二轨迹;合并第一轨迹和第二轨迹,得到第三轨迹;将第三轨迹从Frenet坐标系转化至笛卡尔坐标系,得到目标轨迹。这样,目标轨迹需考虑向心加速度的约束,从而可以包含道路曲率特征,有效提高了舒适性。
Track planning method and device, vehicle, electronic equipment and readable storage medium
轨迹规划方法、装置、车辆、电子设备及可读存储介质
2023-07-11
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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