The invention discloses a trajectory planning method, computer equipment, a readable storage medium and a motor vehicle, relates to the technical field of automatic driving, is used for planning a driving trajectory during automatic driving of a vehicle, and comprises the following steps: selecting a target point for planning the driving trajectory according to information of surrounding vehicles; and planning a driving track according to the state of the selected target point and the current state of the vehicle. According to the trajectory planning method provided by the invention, the trajectory is generated by starting from the kinematic characteristics of the vehicle and combining the change rule of the yaw velocity of the vehicle and the change rule of the speed of the vehicle, the solution of the function parameters is that the trajectory is constrained in the Cartesian space, and the planned trajectory conforms to the kinematic and dynamic characteristics of the vehicle. And the comfort is improved while the driving safety of the vehicle is ensured.

    本发明公开了一种轨迹规划方法、计算机设备、可读存储介质及机动车,涉及自动驾驶技术领域,用于车辆自动驾驶时规划行车轨迹,包括如下步骤:根据周围车辆的信息选取用于规划行车轨迹的目标点;根据选取的目标点的状态以及自车的当前状态规划行车轨迹。本发明所提供的轨迹规划方法,从车辆运动学特性出发,结合车辆的横摆角速度的变化规律和车辆速度的变化规律生成轨迹,函数参数的求解是通过在笛卡尔空间下对轨迹进行约束,所规划出的轨迹符合车辆的运动学、动力学特性,保证车辆行驶安全性的同时提高舒适性。


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    Title :

    Track planning method, computer equipment, readable storage medium and motor vehicle


    Additional title:

    一种轨迹规划方法、计算机设备、可读存储介质及机动车


    Contributors:
    WANG XU (author)

    Publication date :

    2023-04-07


    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



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