The invention provides an automatic driving path planning method and device, equipment and a medium, and the method comprises the steps: obtaining environment information which comprises target vehicle motion parameters and target vehicle position information; establishing a cost function, wherein the cost function comprises a quality cost, a reference line cost, a smoothing cost and a central cost; and establishing a constraint for the cost function, and calculating a target driving path corresponding to the target vehicle according to the cost function and the constraint. According to the method, the cost of considering the quality of the target vehicle can be increased for the path planning problem of active lane changing, the definition of the cost function and the constraint of the path optimization problem is proposed, accurate modeling is carried out for the total cost function, an accurate solution is solved through nonlinear optimization, and the optimized path is obtained through real-time verification of the constraint. The driving safety of automatic driving vehicles with relatively large mass and relatively high mass center positions, such as commercial vehicles, in a road bending scene is improved.

    本发明提供一种自动驾驶路径规划方法、装置、设备及介质,该方法包括:获取环境信息,环境信息包括目标车辆运动参数和目标车辆位置信息;建立代价函数,代价函数包括质量代价、参考线代价、平滑代价和中央代价;为代价函数建立约束,根据代价函数和约束计算目标车辆对应的目标行驶路径。本发明能够对主动换道的路径规划问题增加考虑目标车辆质量的代价,提出路径优化问题的代价函数与约束的定义,针对总的代价函数进行精确建模,利用非线性优化求解精确解,并通过约束的实时校验得到优化路径,提高了在道路入弯场景中,针对商用车这类质量较大、质心位置较高的自动驾驶车辆的行驶安全性。


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    Titel :

    Automatic driving path planning method, device, equipment and medium


    Weitere Titelangaben:

    一种自动驾驶路径规划方法、装置、设备及介质


    Beteiligte:
    SUN QIU (Autor:in) / QIAO RUIZHI (Autor:in) / SUN ZHENGHAI (Autor:in) / LI WANHONG (Autor:in) / XIAO KAIXING (Autor:in)

    Erscheinungsdatum :

    2023-07-28


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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