The invention provides a space-time decoupling high-speed single-lane driving method and a vehicle, and the space-time decoupling high-speed single-lane driving method comprises the steps: selecting a decision boundary according to the information of a vehicle; decision-making judgment is carried out on target vehicles appearing in the decision-making boundary; acquiring longitudinal end states (s longitudinal, v longitudinal, a longitudinal and tsample) and transverse end states (lsample, v transverse, a transverse and ssample) of the own vehicle according to the target predicted trajectory of the target vehicle; acquiring a longitudinal trajectory equation of the own vehicle according to the position and the longitudinal tail state of the own vehicle; acquiring a transverse trajectory equation of the own vehicle according to the position and the transverse tail state of the own vehicle; matching the transverse trajectory equation with the longitudinal trajectory equation to obtain a trajectory cluster; and evaluating the trajectory cluster, and selecting and outputting an optimal trajectory. The technical problems that a traditional control algorithm is too high in time complexity and long in solving time consumption are solved.
本发明提供了一种时空解耦的高速单车道行驶方法和车辆,时空解耦的高速单车道行驶方法包括:根据自车车辆信息,选取决策边界;对决策边界内出现的目标车辆进行决策判定;通过目标车辆的目标预测轨迹,获取自车车辆的纵向末状态(s纵,v纵,a纵,tsample)和横向末状态(lsample,v横,a横,ssample);根据自车车辆的位置和纵向末状态,获取自车车辆的纵向轨迹方程;根据自车车辆的位置和横向末状态,获取自车车辆的横向轨迹方程;将横向轨迹方程和纵向轨迹方程进行匹配,获取轨迹簇;对轨迹簇进行评估,选择并输出最优轨迹。本发明解决传统的控制算法的时间复杂度过高,求解耗时长的技术问题。
Space-time decoupling high-speed single-lane driving method and vehicle
一种时空解耦的高速单车道行驶方法和车辆
2023-08-01
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 |
Unmanned vehicle single-lane driving speed control method and system and terminal
Europäisches Patentamt | 2021
Europäisches Patentamt | 2023
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