The invention provides a path trajectory planning method, which comprises the steps of determining a preset trajectory point sequence of a target vehicle, the preset trajectory point sequence being used for inputting a double-loop iterative algorithm as an initial hot start item; determining a nonlinear function of SV speed limit, wherein the nonlinear function of SV speed limit is used for calculating a speed constraint condition of a double-loop iterative algorithm; and starting a double-loop iterative algorithm to carry out optimization solution on the preset track point sequence so as to output a target path track point sequence. According to the method, the speed of solving a nonlinear planning problem is increased and the path trajectory planning time is shortened by constructing a double-loop iterative algorithm framework.
本申请提供了一种路径轨迹规划方法,包括确定目标车辆的预设轨迹点序列,预设轨迹点序列用于输入双循环迭代算法作为初始热启动项;确定SV限速的非线性函数,SV限速的非线性函数用于计算双循环迭代算法的速度约束条件;启动双循环迭代算法对预设轨迹点序列优化求解,以输出目标路径轨迹点序列。本申请通过构建双循环迭代算法框架,加快了求解非线性规划问题的速度,缩短了路径轨迹规划的时间。
Path trajectory planning method, terminal and computer readable storage medium
路径轨迹规划方法、终端及计算机可读存储介质
2022-07-29
Patent
Electronic Resource
Chinese
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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