The invention relates to the technical field of vehicle automatic driving, and provides a vehicle obstacle avoidance trajectory planning method and system, a vehicle and a storage medium, and the method comprises the steps: obtaining the coordinate point information of a lane line and the coordinate point information of a lane center line according to the vehicle positioning information; the lane center line of the lane where the vehicle is located serves as a reference line, and the position, the course, the speed and the accelerated speed of the vehicle are converted into the longitudinal position, the transverse deviation, the transverse speed, the longitudinal speed, the transverse accelerated speed and the longitudinal accelerated speed in a frenet coordinate system; obstacle information is taken, if obstacles exist, coordinates of the obstacles are converted into Sobs and Lobs in a frenet coordinate system, if multiple obstacles exist, coordinates of each obstacle are converted into Sobsi and Lobsi in the frenet coordinate system, and target points are calculated through scattering point sampling and dynamic planning; converting the target points into coordinates in a natural coordinate system, and smoothing through a smoothing algorithm to obtain a track point set; and fitting the track point set to generate a track equation. The method is simple in calculation process and lower in cost.

    本发明涉及车辆自动驾驶技术领域,提供了一种车辆避障轨迹规划方法、系统、车辆及存储介质,方法包括根据车辆定位信息,获取车道线的坐标点信息和车道中心线的坐标点信息;以本车所在车道的车道中心线作为参考线,将本车位置、航向、速度、加速度换成frenet坐标系中的纵向位置、横向偏移、横向速度、纵向速度、横向加速度和纵向加速度;取障碍物信息,若存在障碍物时,将障碍物坐标转换成frenet坐标系中的Sobs,Lobs,若存在多个障碍物,将每个障碍物坐标都转换成frenet坐标系中的Sobsi,Lobsi,通过撒点采样经由动态规划计算出目标点;将目标点转换成自然坐标系中的坐标,通过平滑算法进行平滑得到轨迹点集;对轨迹点集拟合生成轨迹方程。本发明计算过程简单,成本更低。


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    Title :

    Vehicle obstacle avoidance trajectory planning method and system, vehicle and storage medium


    Additional title:

    一种车辆避障轨迹规划方法、系统、车辆及存储介质


    Contributors:
    LI CHENG (author) / WANG YUEQIANG (author) / HE YONG (author) / REN FAN (author)

    Publication date :

    2023-05-16


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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