The invention relates to a method for planning a theoretical movement trajectory (TSoll) to be automatically driven by a vehicle (1), in which a discrete set of movement trajectories (T) is determined as candidates for the theoretical movement trajectory (TSoll), each movement trajectory (T) being composed of a plurality of movement trajectory segments (TR, TR (0, 0) (1, 1)) arranged one after the other, the planning is based on one of the motion trajectories (T) being selected as a theoretical motion trajectory (TSoll), the selection being based on an evaluation of the motion trajectory (T) using a predetermined cost function (K) and an identification of the motion trajectory (T) evaluated as the most cost. According to the invention, a group of partial motion trajectories, each having the same position setting condition and different dynamic setting conditions, is assigned to each motion trajectory segment (TR, TR (0, 0) (1, 1)), and a cost is assigned to each partial motion trajectory in accordance with a predetermined cost function (K), and when a change in the boundary condition to be followed and/or the driving task to be executed is determined, the partial motion trajectories are associated with the respective partial motion trajectories. The pre-control of the selection is accomplished by adapting the cost function (K) to the varying boundary conditions and/or driving tasks for the individual motion trajectories in order to assign a lower cost to the partial motion trajectory that is better suitable for complying with the varying boundary conditions and/or performing the varying driving tasks than to the other partial motion trajectories.
本发明涉及一种用于规划要由车辆(1)自动行驶的理论运动轨迹(TSoll)的方法,其中,一个运动轨迹(T)的离散集合被确定为理论运动轨迹(TSoll)的候选者,其中,每个运动轨迹(T)由多个接连排列的运动轨迹段(TR,TR(0,0)(1,1))组成,其中,该规划基于其中一个运动轨迹(T)被选择为理论运动轨迹(TSoll),其中,该选择基于利用预定的成本函数(K)对运动轨迹(T)的评估和对评估为最划算的运动轨迹(T)的识别。本发明规定,为每个运动轨迹段(TR,TR(0,0)(1,1))分配一组分别具有相同的位置设定条件和不同的动态设定条件的部分运动轨迹并且根据预定的成本函数(K)分别给部分运动轨迹分配成本,当确定了要遵守的边界条件和/或要执行的驾驶任务变化时,通过使成本函数(K)针对各个运动轨迹适配于变化的边界条件和/或驾驶任务来完成该选择的预控制,以给部分运动轨迹分派与其它部分运动轨迹相比更好地适合遵守变化的边界条件和/或执行变化的驾驶任务的更低成本。
Method for planning theoretical movement trajectory
用于规划理论运动轨迹的方法
2022-11-22
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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