The invention discloses a planned path reference line smoothing method based on curvature constraint pre-smoothing, which comprises the following steps: S1, receiving and traversing original path reference points, and judging whether the original path reference points meet the curvature constraint of the minimum turning radius of a vehicle or not; s2, if the original path reference point does not meet the curvature constraint of the minimum turning radius of the vehicle, performing gradient descent smoothing on the original path reference point; s3, establishing a function model, and setting an iteration initial value of warm start as a value after gradient descent smoothing based on the lane width and curvature optimization function model and constraint conditions; and S4, obtaining a new path reference line based on the optimized function model and constraint conditions. The method has the advantages that the problem of sudden change of the reference point can be solved, the reference point can be corrected according to the curvature and width of the curve, and the number of times of iterative optimization can be shortened to obtain a new path reference line.
本发明公开了一种基于曲率约束预先平滑的规划路径参考线平滑方法,包括以下步骤:S1:接收和遍历原始路径参考点,判断原始路径参考点是否满足车辆最小转弯半径的曲率约束;S2:若原始路径参考点不满足车辆最小转弯半径的曲率约束,对原始路径参考点进行梯度下降平滑;S3:建立函数模型,基于车道宽度和曲率优化函数模型和约束条件,设置暖启动的迭代初始值为梯度下降平滑后的值;S4:基于优化后函数模型和约束条件得到新的路径参考线。本发明的有益效果是:能解决参考点突变,能根据弯道曲率和宽度修正参考点,能缩短迭代优化的次数得到新的路径参考线。
Planned path reference line smoothing method based on curvature constraint pre-smoothing
一种基于曲率约束预先平滑的规划路径参考线平滑方法
2023-01-03
Patent
Electronic Resource
Chinese
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