The invention discloses a track planning method and system for a four-wheel steering vehicle. The system comprises an upstream module, a decision module, a path planning module, an evaluation module and a control module. Vehicle state information, a reference line and vehicle surrounding information are obtained through a central processing unit of the vehicle, and a decision module is operated to judge the state of the vehicle; when the vehicle is in the forced parking state, the escape action is carried out, and an escape instruction is output; the planning module receives the detrapping instruction and performs detrapping planning, if the detrapping planning is successful, the vehicle travels according to a detrapping planning track and completes a detrapping action, the method does not depend on a preset fixed rule, and a sampling-based path planning method is adopted, so that the vehicle can be effectively detrapped in a complex environment; according to the state of the vehicle and the surrounding environment information, whether the escape operation needs to be carried out or not and how to carry out the escape operation are intelligently decided, adaptability is better, and the intelligence and practicability of the four-wheel steering automatic driving vehicle are remarkably improved.

    本发明公开一种四轮转向车辆的轨迹规划方法和系统,该系统包括上游模块、决策模块、路径规划模块、评价模块、控制模块;通过车辆的中央处理器获取自车状态信息、参考线和车辆周边信息,并运行决策模块进行判定自车状态;自车处于逼停状态,进行脱困动作,输出脱困指令;规划模块收到脱困指令,进行脱困规划,脱困规划成功,则车辆按照脱困规划的轨迹行驶,完成脱困动作,该方法不依赖于预设的固定规则,并采用基于采样的路径规划方法,能够有效地使车辆在复杂环境中进行脱困,根据车辆自身的状态和周围环境信息,智能地决策是否需要进行脱困操作,以及如何进行脱困操作,更具有适应性,显著提升了四轮转向自动驾驶车辆的智能性和实用性。


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    Titel :

    Trajectory planning method and system for four-wheel steering vehicle


    Weitere Titelangaben:

    一种四轮转向车辆的轨迹规划方法和系统


    Beteiligte:
    ZHANG YI (Autor:in) / HU ZHENYU (Autor:in) / TANG WEI (Autor:in) / ZHANG XIANHONG (Autor:in)

    Erscheinungsdatum :

    2023-12-26


    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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