The invention discloses a track coefficient transformation generation method and system for a lane changing path of an automatic driving vehicle. The method comprises the following steps: sampling to obtain discrete points of a vehicle in a lane changing process between two lane boundaries; constructing a nonlinear problem solving function of the lane changing planning path of the vehicle, and converting the nonlinear problem solving function of the lane changing planning path of the vehicle into a linear problem solving function based on a QR decomposition method of House Holder transformation; and according to the acquired discrete points and the converted linear problem solving function, generating a trajectory coefficient of an optimal planning path for lane changing of the vehicle. According to the method, the nonlinear problem of the lane changing planning path of the vehicle is converted into the linear planning problem based on the QR decomposition method of the House Holder transformation, the optimal value of the trajectory fitting coefficient in automatic driving is solved more quickly, a smooth, comfortable and continuous lane changing planning path curve is fitted accordingly, and the riding comfort and safety of the automatic driving vehicle are guaranteed.
本申请公开了自动驾驶车辆换道路径的轨迹系数变换生成方法及系统方法包括如下步骤:采样获取本车在两车道边界间进行换道的过程中的离散点;构建本车换道规划路径的非线性问题求解函数,基于HouseHolder变换的QR分解方法,将本车换道规划路径的非线性问题求解函数转换为线性问题求解函数;根据采集获取的离散点以及转换的线性问题求解函数,生成本车换道的最优规划路径的轨迹系数。本申请基于HouseHolder变换的QR分解方法将本车换道规划路径的非线性问题转换为线性规划问题,实现自动驾驶中轨迹拟合系数最优值的更快求解,据此拟合出一条平滑、舒适和连续的换道规划路径曲线,保证自动驾驶车辆的乘坐舒适性和安全性。
Track coefficient transformation generation method and system for lane changing path of automatic driving vehicle
自动驾驶车辆换道路径的轨迹系数变换生成方法及系统
2023-12-29
Patent
Elektronische Ressource
Chinesisch
Lane changing track generation method and device for automatic driving vehicle
Europäisches Patentamt | 2020
|Lane changing track generation method, device and equipment and automatic driving vehicle
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2023
|Europäisches Patentamt | 2024
|Europäisches Patentamt | 2023
|