The invention relates to an intelligent automobile anthropomorphic speed and trajectory planning method and device for a mountainous area expressway. The method comprises the following steps: acquiring vehicle operation data, road geometric data and environment data; preprocessing the data; road geometric data and environmental data are used as explanatory variables, and a theoretical vehicle running speed and trajectory model is established based on a simultaneous equation model; establishing a personification motion planning basic rule based on a result of the vehicle running speed and the trajectory model; constructing an anthropomorphic motion planning model; the anthropomorphic motion planning model is corrected, and the behavior of deviating from the lane due to the fact that a driver manually drives the vehicle is avoided; and outputting the corrected anthropomorphic motion planning model as a soft constraint for reference of an intelligent automobile motion control module to realize anthropomorphic speed and trajectory planning. Compared with the prior art, the complexity of the driving behavior of the driver on the mountainous highway is considered, and the movement expectation of the intelligent automobile driver is better met.

    本发明涉及一种山区高速公路的智能汽车拟人化速度与轨迹规划方法及装置,其中方法包括以下步骤:获取车辆运行数据、道路几何数据和环境数据;数据预处理;以道路几何数据与环境数据作为解释变量,基于联立方程模型建立理论性的车辆运行速度与轨迹模型;基于车辆运行速度与轨迹模型的结果,建立拟人化运动规划基本规则;构建拟人化运动规划模型;对拟人化运动规划模型进行校正,规避由于驾驶人手动驾驶车辆导致偏移出车道的行为;将校正后的拟人化运动规划模型输出作为一种软约束,供智能汽车运动控制模块参考,实现拟人化速度与轨迹规划。与现有技术相比,本发明考虑了驾驶人在山区高速公路驾驶行为的复杂性,更符合智能汽车驾驶人运动期望。


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    Title :

    Intelligent automobile anthropomorphic speed and trajectory planning method and device


    Additional title:

    一种智能汽车拟人化速度与轨迹规划方法及装置


    Contributors:
    CHEN ZHIGUI (author) / WANG XUESONG (author)

    Publication date :

    2023-07-21


    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



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