The invention relates to a commercial articulated vehicle automatic driving planning trajectory perfect deduction method, and the method comprises the steps: receiving a planning trajectory issued by a planning module in real time through a deduction device, and representing the planning trajectory through a space trajectory fitting coefficient and a real-time expected acceleration; perfect deduction is carried out on zero-order poses, first-order kinematics and second-order kinematics related to the mass center position of the tractor, the hinge angle and the first-order change rate and the second-order change rate of the hinge angle are estimated, and perfect deduction is carried out on zero-order poses, first-order kinematics and second-order kinematics related to the mass center position of the trailer body; and inputting the kinematics quantity of each order of the tractor and the trailer into a traffic scene deduction program, and inputting the data of the whole deduction process into a visualization and evaluation module for automatic driving algorithm development and test personnel to carry out analysis and evaluation. According to the method, perfect deduction is carried out in the mode of'space trajectory + real-time expected acceleration ', perfect deduction of zero-order poses and first-order and second-order motion information of the tractor body and the trailer body can be achieved at the same time, and practicability is high.

    本发明涉及一种商用铰接车辆自动驾驶规划轨迹完美演绎方法,该方法的演绎装置实时接收来自规划模块下发的规划轨迹,通过空间轨线拟合系数和实时期望加速度来表示,对牵引车体质心位置相关的零阶位姿、一阶和二阶运动学量进行完美演绎,对铰接角及其一阶、二阶变化率进行估算,对挂车车体质心位置相关的零阶位姿、一阶和二阶运动学量进行完美演绎,将牵引车和挂车的各阶运动学量的输入到交通场景演绎程序中,将整个演绎过程的数据输入到可视化与测评模块,供自动驾驶算法开发和测试人员进行分析评估。本发明采用“空间轨线+实时期望加速度”方式进行完美演绎,可以同时实现对牵引车体和挂车车体的零阶位姿和一、二阶运动信息完美演绎,实用性强。


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    Title :

    Commercial articulated vehicle automatic driving planning track perfect deduction method


    Additional title:

    一种商用铰接车辆自动驾驶规划轨迹完美演绎方法


    Contributors:
    LIU WEI (author) / XI HAOCHEN (author) / YANG JUN (author) / ZHANG NAN (author) / XUN HANG (author) / BAEK BYOUNG-IN (author) / LIU ZHENBIN (author) / ZHANG XIANHONG (author)

    Publication date :

    2023-02-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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