The invention discloses a trajectory planning optimization method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining a predicted reference trajectory of the vehicle through a trajectory search algorithm; inputting the current initial state of the vehicle and the prediction reference trajectory into a constrained prediction control model to obtain an optimized control quantity sequence; according to a vehicle kinematic model, performing iterative recursion on the initial state in combination with the optimized acceleration sequence and the optimized tire angle sequence to obtain a planning state sequence; according to the planning state sequence, a planning driving track is obtained, and the vehicle is controlled to drive according to the planning driving track. In the trajectory optimization process, the influence of the acting force borne by the vehicle when the vehicle runs on the lane with the gradient is considered, so that the running trajectory planned by establishing the constrained predictive control model is more practical, and the reasonability of automatic driving planning is improved.

    本申请公开了一种轨迹规划优化方法、装置、车辆以及存储介质,该轨迹规划优化方法包括:通过轨迹搜索算法,获取车辆的预测参考轨迹;将所述车辆当前的初始状态以及所述预测参考轨迹输入建立约束的预测控制模型中,获取优化后的控制量序列;根据车辆运动学模型,对所述初始状态结合所述优化加速度序列以及优化轮胎角序列进行迭代递推,获取规划状态序列;根据所述规划状态序列,获取规划行驶轨迹,控制所述车辆按照所述规划行驶轨迹进行行驶。在轨迹优化过程中考虑到车辆处于具有坡度的车道上行驶时所受到的作用力影响,使得通过建立约束的预测控制模型规划出的行驶轨迹更符合实际,提高了自动驾驶规划的合理性。


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    Title :

    Track planning optimization method and device, equipment and storage medium


    Additional title:

    轨迹规划优化方法、装置、设备及存储介质


    Contributors:
    HANG CHEN (author) / ZHONG BIN (author) / WANG MINGMING (author) / XIA XIN (author)

    Publication date :

    2023-11-24


    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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