The invention belongs to the technical field of automatic driving, and discloses an automatic driving track generation-oriented search rule base design method, which comprises the following steps of: S1, acquiring environment information around a vehicle, and identifying roads, obstacles and traffic signs; s2, the scene where the vehicle is located is judged based on the recognition result of the road, the obstacle and the traffic sign; s3, performing variable neighborhood search according to a neighborhood search rule based on the driving state and the environment scene; s4, generating a trajectory candidate set based on a variable neighborhood search result; and S5, evaluating the trajectory candidate set and selecting a trajectory meeting the requirement. According to the method, corresponding neighborhood search is converted according to different environment scenes, and safe neighborhoods in different shapes are matched according to the environment scenes, so that the algorithm is helped to jump out of local optimum and rapidly converge to a global optimal solution, and the neighborhood search simplicity and reliability are improved.
本发明属于自动驾驶技术领域,公开了一种面向自动驾驶轨迹生成的搜索规则库设计方法,包括下列步骤:S1、采集车辆周围的环境信息,识别道路、障碍物和交通标识;S2、基于对道路、障碍物和交通标识的识别结果判断车辆所处的场景;S3、基于行驶状态和环境场景按照邻域搜索规则进行可变邻域搜索;S4、基于可变邻域搜索结果生成轨迹候选集;S5、对轨迹候选集进行评估并选择符合需求的轨迹。本发明依据环境场景的不同,转变相应的邻域搜索,实现了不同形状的安全邻域依据环境场景相配合,从而帮助算法跳出局部最优,快速收敛至全局最优解,并增加邻域搜索简洁性和可靠性。
Search rule base design method for automatic driving track generation
一种面向自动驾驶轨迹生成的搜索规则库设计方法
22.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G06V / 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 / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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