The invention relates to a control point curvature acquisition method and smoothing method for a vehicle planning trajectory, and the method comprises the steps: judging whether the curvature of a trajectory between a point where a vehicle is located and a control point is changed or not according to the control point, the point where the vehicle is located and an interval point, and then according to whether the three points are collinear or not; the curvature of the circumcircle of the corresponding triangle is calculated according to the coordinates of the three points, that is, the curvature of the circumcircle serves as the real-time curvature, corresponding to the control point, of the planned track when the vehicle arrives from the point to the control point; as the vehicle runs, the curvature of the subsequent control point can be obtained by repeating the above mode, so that the end point of the curvature change of the previous section of planning track is used as the starting point of the curvature change of the next section of planning track, and multiple sections of planning tracks with continuously changed curvatures can be smoothly connected. And finally realizing smooth processing of the planned trajectory. According to the processing mode, the continuity of the control point curvature is ensured, the calculation amount is small, and the real-time performance is achieved.
本申请涉及一种车辆规划轨迹的控制点曲率获取方法和平滑方法,由于根据控制点、车辆所在点和区间点,然后根据这三个点是否共线就可以判断出车辆所在点到控制点之间的轨迹的曲率是否是发生变化,当发生变化时,再根据三点的坐标计算出对应的三角形的外接圆的曲率,也就是将这个外接圆的曲率作为车辆到达点到控制点时规划轨迹对应在控制点处的实时曲率;随着车辆行驶,重复以上方式可以得出后续控制点的曲率,从而使得上一段规划轨迹曲率发生变化的终点作为下一段规划轨迹曲率发生变化的起点,就可以使得多个曲率连续变化的多段规划轨迹可以平滑连接,最终实现规划轨迹的平滑处理;本处理方式保证控制点曲率的连续性,且计算量小,具有实时性。
Control point curvature acquisition method and smoothing method for vehicle planning trajectory
一种车辆规划轨迹的控制点曲率获取方法和平滑方法
2023-11-24
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 |
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