The invention provides a vehicle driving track planning method, which comprises the following steps: S1, calculating an obstacle filling path and storing a file, sampling the obstacle filling path and carrying out segmented calculation, and when a vehicle can pass through the obstacle filling path, querying the file by utilizing a segmented calculation result to obtain a first track; s2, directly calculating and solving by adopting an online trajectory optimization method to obtain a second trajectory; and S3, carrying out joint optimization on the first track and the second track to obtain a final planning track. The problems that the global smoothness of trajectory planning is not high, the trajectory planning generation efficiency is low, and the trafficability of a vehicle in a complex environment is not high are solved.

    本发明提供了一种车辆行驶轨迹的规划方法,包括:步骤S1:计算障碍物填充路径并存储文件,对障碍物填充路径进行采样并分段计算,当障碍物填充路径能够通过车辆时,利用分段计算结果,查询文件,得到第一轨迹;步骤S2:采用在线的轨迹优化方法直接计算求解,得到第二轨迹;步骤S3:对第一轨迹和第二轨迹进行联合优化,得到最终规划轨迹。解决了轨迹规划的全局平顺性不强,轨迹规划生成效率低,车辆在复杂环境下的可通过性不高的问题。


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    Title :

    Vehicle driving track planning method


    Additional title:

    一种车辆行驶轨迹的规划方法


    Contributors:
    XING WENZHI (author) / WANG YANMING (author) / ZHENG XINYU (author) / PAN SHAOFEI (author) / LOU JUNJIE (author) / ZHANG HANGJIA (author) / YU YONG (author) / ZHENG XIYU (author)

    Publication date :

    2023-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



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