The invention provides a vehicle motion planning method based on a risk field in a multi-vehicle conflict scene, and the method comprises the steps: building a risk field matrix through predicting the states of vehicles in a traffic scene, and carrying out the motion planning. A path-speed separation planning thought is adopted, and motion planning is divided into two layers, namely path planning and trajectory planning. In path planning, the static risk matrix is used as a constraint condition. In view of driving safety and comfort, a path cost function is designed to evaluate a set of candidate paths resulting from longitudinal and lateral sampling to determine a target path. The dynamic risk matrix is used for constructing a space-time diagram corresponding to a target path, dynamic planning and quadratic planning are introduced on this basis to solve the trajectory planning problem, and in addition, the driving style of the vehicle can be changed by adjusting a risk threshold value. According to the method, motion planning of the vehicles in a multi-vehicle conflict scene is realized.
本发明提出了一种多车冲突场景下基于风险场的车辆运动规划方法,通过预测交通场景中车辆的状态,建立风险场矩阵进行运动规划。采用路径‑速度分离规划的思想,将运动规划分为两层,即路径规划和轨迹规划。在路径规划中,静态风险矩阵作为约束条件。考虑到驾驶的安全性和舒适性,设计了路径成本函数来评估由纵向采样和横向采样得到的候选路径组,以确定目标路径。动态风险矩阵被用来构建对应于目标路径的时空图,在此基础上引入动态规划和二次规划来解决轨迹规划问题,此外,还可以通过调整风险阈值改变车辆的驾驶风格。该方法实现了多车冲突场景下车辆的运动规划。
Vehicle motion planning method based on risk field in multi-vehicle conflict scene
一种多车冲突场景下基于风险场的车辆运动规划方法
2023-05-26
Patent
Electronic Resource
Chinese
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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