The invention relates to the technical field of automatic driving vehicle trajectory planning, and discloses an automatic driving articulated vehicle motion trajectory planning method, which comprises the following steps: step 1, an unmanned tractor center A is known, and an articulated vehicle model is constructed through an articulated relationship and geometric characteristics; and 2, starting trajectory planning. According to different motion tasks, track planning is divided into three different scenes of forward driving, reverse driving and steering driving; step 3, a forward driving track planning method; step 4, a steering driving track planning method; and step 5, a backing-up driving track planning method. According to the automatic driving articulated vehicle motion trajectory planning method, different planning trajectory center points are selected according to different automatic driving action scenes, a traditional method of singly selecting the front and rear axle centers of an unmanned tractor is avoided, and the effects of improving trajectory planning precision and automatic driving precision and improving the accuracy of automatic driving are achieved. And the subsequent automatic driving control difficulty is reduced.

    本发明涉及自动驾驶车辆轨迹规划技术领域,且公开了一种自动驾驶铰接车辆运动轨迹规划方法,包括以下步骤:步骤一、已知无人牵引车中心A,通过铰接关系和几何特征,构建铰接车辆模型;步骤二、轨迹规划开始。根据运动任务的不同将轨迹规划分为正向行驶、倒车行驶、转向行驶3种不同场景;步骤三、正向行驶轨迹规划方法;步骤四、转向行驶轨迹规划方法;步骤五、倒车行驶轨迹规划方法。该自动驾驶铰接车辆运动轨迹规划方法,通过自动驾驶动作场景的不同,选取不同的规划轨迹中心点,避免了传统方法单一选取无人牵引车前后轴中心的方法,达到了具备提高轨迹规划精度和自动驾驶精度,减小后续自动驾驶控制难度的有益效果。


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    Title :

    Motion track planning method for automatic driving articulated vehicle


    Additional title:

    一种自动驾驶铰接车辆运动轨迹规划方法


    Contributors:

    Publication date :

    2022-12-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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