The invention provides an automatic driving corridor optimization construction method and system based on spatio-temporal joint planning. The method comprises the following steps: acquiring a current planning initial position, a guide point seed and environment characterization information; projecting the guide point seed and the environment characterization information to a reference line coordinate system to obtain a corresponding Frenet coordinate, and initializing a semantic map according to a current planning initial position; the current environment characterization information and the guide point seeds are converted into corresponding semantic map coordinates from Frenet coordinates respectively; selecting two initial seeds to form an initial corridor space, checking whether the semantic map covered by the corridor contains an obstacle or not, and if yes, returning an error; if not, the initial corridor space is expanded, and then a passable semantic corridor is obtained. According to the method, the travelable area which can be passed in a certain time in the future is constructed in two aspects of time and space, so that the rationality of obtaining a track by an original path is improved.
本发明提供了一种基于时空联合规划的自动驾驶走廊优化构建方法及系统,包括:获取当前规划初始位置、指引点种子和环境表征信息;将指引点种子和环境表征信息投影到参考线坐标系,得到对应的Frenet坐标,同时根据当前规划初始位置初始化语义地图;将当前环境表征信息和指引点种子分别由Frenet坐标转换为对应的语义地图坐标;选取初始两个种子构成初始走廊空间并检查走廊覆盖的语义地图中是否包含障碍物,若是,则返回错误;若否,则对初始走廊空间进行膨胀,进而得到可通行的语义走廊。本发明通过对时间和空间两个方面构建未来一定时间内可以通行的可行驶区域,提高了原始路径得到轨迹的合理性。
Automatic driving corridor optimization construction method and system based on space-time joint planning
基于时空联合规划的自动驾驶走廊优化构建方法及系统
2023-06-23
Patent
Electronic Resource
Chinese
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 |
Wiley | 2016
|Parking Planning Under Limited Parking Corridor Space
IEEE | 2023
|The Altamont Corridor Rail Project Joint Use Corridor
British Library Conference Proceedings | 2010
|Automatic driving motion planning control system based on space-time decoupling and vehicle
European Patent Office | 2025
|