The invention discloses an intelligent vehicle trajectory planning method considering a chassis dynamic boundary. The method comprises the following steps: acquiring own vehicle information and environmental vehicle information required by trajectory planning in real time; estimating the current vehicle state; a driving safety field considering chassis dynamics is constructed, an s-shaped curve is used for optimization, a chassis dynamics boundary is defined, and a planning track is generated under the constraint of the chassis dynamics; and driving according to the planned trajectory obtained by planning, and performing trajectory planning again in combination with the current own vehicle information and the environment information. According to the method, the chassis dynamic boundary is calculated, the chassis dynamic boundary is added into the driving safety field, trajectory planning is carried out by increasing constraints in the trajectory planning process, and the reliability and safety of the intelligent vehicle are further improved.

    本发明公开了一种考虑底盘动力学边界的智能车轨迹规划方法,步骤如下:实时采集轨迹规划所需的自车信息和环境车辆信息;对当前车辆状态进行估计;构建考虑底盘动力学的行车安全场,使用s形曲线优化,定义底盘动力学边界,实现在底盘动力学约束下生成规划轨迹;按照上规划得到的规划轨迹行驶,结合当前自车信息和环境信息再次进行轨迹规划。本发明的方法通过计算底盘动力学边界,将底盘动力学边界加入到行车安全场中去,在轨迹规划过程中通过增加约束来进行轨迹规划,进一步提高智能车的可靠性和安全性。


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    Titel :

    Intelligent vehicle trajectory planning method considering chassis dynamic boundary


    Weitere Titelangaben:

    一种考虑底盘动力学边界的智能车轨迹规划方法


    Beteiligte:
    ZHAO WANZHONG (Autor:in) / XUE ZIKUAN (Autor:in) / ZHOU XIAOCHUAN (Autor:in) / LUAN ZHONGKAI (Autor:in) / LIANG WEIHE (Autor:in) / WANG CHUNYAN (Autor:in)

    Erscheinungsdatum :

    2023-12-19


    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





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